for( i = 0; i < 3; i++ )
for( j = 0; j < 3; j++ )
{
- values_read = fscanf(file, "%lf", &goodRotMatrs[currImage].val[i*3+j]);
+ // Yes, load with transpose
+ values_read = fscanf(file, "%lf", &goodRotMatrs[currImage].val[j*3+i]);
CV_Assert(values_read == 1);
}
}
/* ----- Compare per view re-projection errors ----- */
CV_Assert(perViewErrors.size() == (size_t)numImages);
- code = compare(&perViewErrors[0], &goodPerViewErrors[0], numImages, 1.1, "per view errors vector");
+ code = compare(&perViewErrors[0], &goodPerViewErrors[0], numImages, 0.1, "per view errors vector");
if( code < 0 )
break;
{
Mat r9;
cvtest::Rodrigues( rvecs[i], r9 );
- cv::transpose(r9, r9);
r9.convertTo(rotationMatrices[i], CV_64F);
tvecs[i].convertTo(translationVectors[i], CV_64F);
}