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calib3d: fix vector access in USAC

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This commit is contained in:
Maksim Shabunin 2024-11-26 16:15:51 +03:00
parent 65d4112fa5
commit 82c45dde5b
1 changed files with 1 additions and 1 deletions
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2
modules/calib3d/src/usac/fundamental_solver.cpp
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@ -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;