From c57799a877410dfb13d39883d1971ac48baea276 Mon Sep 17 00:00:00 2001
From: Vadim Pisarevsky <no@email>
Date: Wed, 3 Aug 2011 14:04:14 +0000
Subject: [PATCH] fixed 8-point case in findFundamentalMat (ticket #1262).
 findFundamentalMat needs to be rewritten actually (as well as findHomography)

---
 modules/calib3d/src/fundam.cpp |  8 ++++----
 modules/core/src/lapack.cpp    | 21 +++++++++++++++++++--
 2 files changed, 23 insertions(+), 6 deletions(-)

diff --git a/modules/calib3d/src/fundam.cpp b/modules/calib3d/src/fundam.cpp
index b289db6..b7cffa0 100644
--- a/modules/calib3d/src/fundam.cpp
+++ b/modules/calib3d/src/fundam.cpp
@@ -499,7 +499,7 @@ int CvFMEstimator::run8Point( const CvMat* _m1, const CvMat* _m2, CvMat* _fmatri
                 a[j*9+k] += r[j]*r[k];
     }
 
-    cvSVD( &A, &W, 0, &V, CV_SVD_MODIFY_A + CV_SVD_V_T );
+    cvEigenVV(&A, &V, &W);
 
     for( i = 0; i < 8; i++ )
     {
@@ -616,7 +616,7 @@ CV_IMPL int cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
             (mask->rows == 1 || mask->cols == 1) &&
             mask->rows*mask->cols == count );
     }
-    if( mask || count > 8 )
+    if( mask || count >= 8 )
         tempMask = cvCreateMat( 1, count, CV_8U );
     if( !tempMask.empty() )
         cvSet( tempMask, cvScalarAll(1.) );
@@ -624,9 +624,9 @@ CV_IMPL int cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
     CvFMEstimator estimator(7);
     if( count == 7 )
         result = estimator.run7Point(m1, m2, &_F9x3);
-    else if( count == 8 || method == CV_FM_8POINT )
+    else if( method == CV_FM_8POINT )
         result = estimator.run8Point(m1, m2, &_F3x3);
-    else if( count >= 8 )
+    else
     {
         if( param1 <= 0 )
             param1 = 3;
diff --git a/modules/core/src/lapack.cpp b/modules/core/src/lapack.cpp
index 18656fd..c88125e 100644
--- a/modules/core/src/lapack.cpp
+++ b/modules/core/src/lapack.cpp
@@ -1637,14 +1637,31 @@ CV_IMPL void
 cvEigenVV( CvArr* srcarr, CvArr* evectsarr, CvArr* evalsarr, double,
            int lowindex, int highindex)
 {
-    cv::Mat src = cv::cvarrToMat(srcarr), evals = cv::cvarrToMat(evalsarr);
+    cv::Mat src = cv::cvarrToMat(srcarr), evals0 = cv::cvarrToMat(evalsarr), evals = evals0;
     if( evectsarr )
     {
-        cv::Mat evects = cv::cvarrToMat(evectsarr);
+        cv::Mat evects0 = cv::cvarrToMat(evectsarr), evects = evects0;
         eigen(src, evals, evects, lowindex, highindex);
+        if( evects0.data != evects.data )
+        {
+            uchar* p = evects0.data;
+            evects.convertTo(evects0, evects0.type());
+            CV_Assert( p == evects0.data );
+        }
     }
     else
         eigen(src, evals, lowindex, highindex);
+    if( evals0.data != evals.data )
+    {
+        uchar* p = evals0.data;
+        if( evals0.size() == evals.size() )
+            evals.convertTo(evals0, evals0.type());
+        else if( evals0.type() == evals.type() )
+            cv::transpose(evals, evals0);
+        else
+            cv::Mat(evals.t()).convertTo(evals0, evals0.type());
+        CV_Assert( p == evals0.data );
+    }
 }
 
 
-- 
2.7.4