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Fix findEssentialMat function

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Also remove all usages of std::complex from OpenCV modules
This commit is contained in:
Andrey Kamaev
2013-04-03 17:25:00 +04:00
parent 6ce050d264
commit d4bb421ce2
5 changed files with 19 additions and 23 deletions
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7
modules/calib3d/src/five-point.cpp
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@@ -30,7 +30,6 @@
*/
#include "precomp.hpp"
#include <complex>
namespace cv
{
@@ -101,7 +100,7 @@ public:
c[1] = (b[29]*b[7]*b[24]-b[29]*b[20]*b[11]+b[2]*b[20]*b[38]-b[2]*b[25]*b[33]-b[28]*b[20]*b[12]+b[28]*b[7]*b[25]-b[29]*b[19]*b[12]-b[3]*b[24]*b[33]+b[15]*b[33]*b[12]+b[3]*b[19]*b[38]-b[16]*b[6]*b[38]+b[3]*b[20]*b[37]+b[16]*b[32]*b[12]+b[29]*b[6]*b[25]-b[16]*b[7]*b[37]-b[3]*b[25]*b[32]-b[15]*b[7]*b[38]+b[16]*b[33]*b[11]);
c[0] = -b[29]*b[20]*b[12]+b[29]*b[7]*b[25]+b[16]*b[33]*b[12]-b[16]*b[7]*b[38]+b[3]*b[20]*b[38]-b[3]*b[25]*b[33];
std::vector<std::complex<double> > roots;
std::vector<Complex<double> > roots;
solvePoly(coeffs, roots);
std::vector<double> xs, ys, zs;
@@ -111,8 +110,8 @@ public:
double* e = ematrix.ptr<double>();
for (size_t i = 0; i < roots.size(); i++)
{
if (fabs(roots[i].imag()) > 1e-10) continue;
double z1 = roots[i].real();
if (fabs(roots[i].im) > 1e-10) continue;
double z1 = roots[i].re;
double z2 = z1 * z1;
double z3 = z2 * z1;
double z4 = z3 * z1;