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