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calib3d: fix fisheye for test fisheyeTest.stereoCalibrateFixIntrinsic

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This commit is contained in:
Alexander Alekhin 2016-11-15 22:25:42 +03:00
parent e878b60dbc
commit 56ed8b1721
1 changed files with 4 additions and 2 deletions
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6
modules/calib3d/src/fisheye.cpp
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@ -1028,8 +1028,10 @@ double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
int a = cv::countNonZero(intrinsicLeft.isEstimate);
int b = cv::countNonZero(intrinsicRight.isEstimate);
cv::Mat deltas = J2_inv * J.t() * e;
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)