calib3d: fix fisheye for test fisheyeTest.stereoCalibrateFixIntrinsic

pull/7710/head
Alexander Alekhin 8 years ago
parent 69949025db
commit a936cb087e
  1. 6
      modules/calib3d/src/fisheye.cpp

@ -1040,8 +1040,10 @@ double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
int b = cv::countNonZero(intrinsicRight.isEstimate);
cv::Mat deltas;
solve(J.t() * J, J.t()*e, deltas);
intrinsicLeft = intrinsicLeft + deltas.rowRange(0, a);
intrinsicRight = intrinsicRight + deltas.rowRange(a, a + b);
if (a > 0)
intrinsicLeft = intrinsicLeft + deltas.rowRange(0, a);
if (b > 0)
intrinsicRight = intrinsicRight + deltas.rowRange(a, a + b);
omcur = omcur + cv::Vec3d(deltas.rowRange(a + b, a + b + 3));
Tcur = Tcur + cv::Vec3d(deltas.rowRange(a + b + 3, a + b + 6));
for (int image_idx = 0; image_idx < n_images; ++image_idx)

Loading…
Cancel
Save