From cbaf0ecaf6a785b6f2f929bd1c6c3028320a8ee9 Mon Sep 17 00:00:00 2001 From: Christian Richardt Date: Wed, 13 May 2015 16:28:14 +0200 Subject: [PATCH] Fixed triangulation bug http://code.opencv.org/issues/4334. --- modules/calib3d/src/triangulate.cpp | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/modules/calib3d/src/triangulate.cpp b/modules/calib3d/src/triangulate.cpp index a19f96d..0fa5e3d 100644 --- a/modules/calib3d/src/triangulate.cpp +++ b/modules/calib3d/src/triangulate.cpp @@ -82,8 +82,8 @@ cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, CvMat* projPoints1, CvMa CV_Error( CV_StsUnmatchedSizes, "Size of projection matrices must be 3x4" ); // preallocate SVD matrices on stack - cv::Matx matrA; - cv::Matx matrU; + cv::Matx matrA; + cv::Matx matrU; cv::Matx matrW; cv::Matx matrV; @@ -101,9 +101,8 @@ cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, CvMat* projPoints1, CvMa y = cvmGet(projPoints[j],1,i); for( int k = 0; k < 4; k++ ) { - matrA(j*3+0, k) = x * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],0,k); - matrA(j*3+1, k) = y * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],1,k); - matrA(j*3+2, k) = x * cvmGet(projMatrs[j],1,k) - y * cvmGet(projMatrs[j],0,k); + matrA(j*2+0, k) = x * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],0,k); + matrA(j*2+1, k) = y * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],1,k); } } /* Solve system for current point */ -- 2.7.4