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Fix typo bug in the calculation of some derivatives (dmxdt, dmydt, dmxdr, dmydr) in cvProjectPoints2 function.

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catree 2016-08-11 00:56:24 +02:00
parent 35acfcf791
commit a893395da8
1 changed files with 4 additions and 4 deletions
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8
modules/calib3d/src/calibration.cpp
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@ -1078,9 +1078,9 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
double dicdist2_dt = -icdist2*icdist2*(k[5]*dr2dt + 2*k[6]*r2*dr2dt + 3*k[7]*r4*dr2dt);
double da1dt = 2*(x*dydt[j] + y*dxdt[j]);
double dmxdt = fx*(dxdt[j]*cdist*icdist2 + x*dcdist_dt*icdist2 + x*cdist*dicdist2_dt +
k[2]*da1dt + k[3]*(dr2dt + 2*x*dxdt[j]));
k[2]*da1dt + k[3]*(dr2dt + 4*x*dxdt[j]));
double dmydt = fy*(dydt[j]*cdist*icdist2 + y*dcdist_dt*icdist2 + y*cdist*dicdist2_dt +
k[2]*(dr2dt + 2*y*dydt[j]) + k[3]*da1dt);
k[2]*(dr2dt + 4*y*dydt[j]) + k[3]*da1dt);
dpdt_p[j] = dmxdt;
dpdt_p[dpdt_step+j] = dmydt;
}
@ -1116,9 +1116,9 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
double dicdist2_dr = -icdist2*icdist2*(k[5]*dr2dr + 2*k[6]*r2*dr2dr + 3*k[7]*r4*dr2dr);
double da1dr = 2*(x*dydr + y*dxdr);
double dmxdr = fx*(dxdr*cdist*icdist2 + x*dcdist_dr*icdist2 + x*cdist*dicdist2_dr +
k[2]*da1dr + k[3]*(dr2dr + 2*x*dxdr));
k[2]*da1dr + k[3]*(dr2dr + 4*x*dxdr));
double dmydr = fy*(dydr*cdist*icdist2 + y*dcdist_dr*icdist2 + y*cdist*dicdist2_dr +
k[2]*(dr2dr + 2*y*dydr) + k[3]*da1dr);
k[2]*(dr2dr + 4*y*dydr) + k[3]*da1dr);
dpdr_p[j] = dmxdr;
dpdr_p[dpdr_step+j] = dmydr;
}