calib3d: fix vector access in USAC

5 months ago · 82c45dde5b
parent 65d4112fa5
commit 82c45dde5b
1 changed files with 1 additions and 1 deletions
--- a/modules/calib3d/src/usac/fundamental_solver.cpp
+++ b/modules/calib3d/src/usac/fundamental_solver.cpp
@ -579,7 +579,7 @@ public:
        CameraPose pose;
        pose.R = corr_idx < 2 ? R1 : R2;
        pose.t = corr_idx % 2 == 1 ? -t : t;
-        refine_relpose(calib_points, sample, sample_size, &pose, opt, &weights[0]);
+        refine_relpose(calib_points, sample, sample_size, &pose, opt, weights.empty() ? nullptr : &weights[0]);
        Matx33d model_new = Math::getSkewSymmetric(pose.t) * pose.R;
        if (is_fundamental)
            model_new = K2_inv_t * model_new * K1_inv;