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fix #2643: use SVD to solve least squares in cvStereoRectifyUncalibrated

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Alexander Mordvintsev 2012-12-21 16:58:26 +04:00
parent 02c7e221a3
commit 20838b6f6e
1 changed files with 2 additions and 6 deletions
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8
modules/calib3d/src/calibration.cpp
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@ -2778,17 +2778,13 @@ CV_IMPL int cvStereoRectifyUncalibrated(
cvPerspectiveTransform( _m1, _m1, &H0 ); cvPerspectiveTransform( _m1, _m1, &H0 );
cvPerspectiveTransform( _m2, _m2, &H2 ); cvPerspectiveTransform( _m2, _m2, &H2 );
CvMat A = cvMat( 1, npoints, CV_64FC3, lines1 ), BxBy, B; CvMat A = cvMat( 1, npoints, CV_64FC3, lines1 ), BxBy, B;
double a[9], atb[3], x[3]; double x[3];
CvMat AtA = cvMat( 3, 3, CV_64F, a );
CvMat AtB = cvMat( 3, 1, CV_64F, atb );
CvMat X = cvMat( 3, 1, CV_64F, x ); CvMat X = cvMat( 3, 1, CV_64F, x );
cvConvertPointsHomogeneous( _m1, &A ); cvConvertPointsHomogeneous( _m1, &A );
cvReshape( &A, &A, 1, npoints ); cvReshape( &A, &A, 1, npoints );
cvReshape( _m2, &BxBy, 1, npoints ); cvReshape( _m2, &BxBy, 1, npoints );
cvGetCol( &BxBy, &B, 0 ); cvGetCol( &BxBy, &B, 0 );
cvGEMM( &A, &A, 1, 0, 0, &AtA, CV_GEMM_A_T ); cvSolve( &A, &B, &X, CV_SVD );
cvGEMM( &A, &B, 1, 0, 0, &AtB, CV_GEMM_A_T );
cvSolve( &AtA, &AtB, &X, CV_SVD_SYM );
double ha[] = double ha[] =
{ {