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Merge pull request #10522 from tobycollins:issue10519

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tobycollins 2018-01-09 13:54:36 +01:00 committed by Alexander Alekhin
parent c71dc78cd4
commit f34a0a874a
1 changed files with 3 additions and 1 deletions
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4
modules/calib3d/src/calibration.cpp
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@ -1009,6 +1009,8 @@ CV_IMPL void cvFindExtrinsicCameraParams2( const CvMat* objectPoints,
CV_Assert( (CV_MAT_DEPTH(tvec->type) == CV_64F || CV_MAT_DEPTH(tvec->type) == CV_32F) &&
(tvec->rows == 1 || tvec->cols == 1) && tvec->rows*tvec->cols*CV_MAT_CN(tvec->type) == 3 );
CV_Assert((count >= 4) || (count == 3 && useExtrinsicGuess)); // it is unsafe to call LM optimisation without an extrinsic guess in the case of 3 points. This is because there is no guarantee that it will converge on the correct solution.
_mn.reset(cvCreateMat( 1, count, CV_64FC2 ));
_Mxy.reset(cvCreateMat( 1, count, CV_64FC2 ));
@ -1033,7 +1035,7 @@ CV_IMPL void cvFindExtrinsicCameraParams2( const CvMat* objectPoints,
cvSVD( &_MM, &matW, 0, &matV, CV_SVD_MODIFY_A + CV_SVD_V_T );
// initialize extrinsic parameters
if( W[2]/W[1] < 1e-3 || count < 4 )
if( W[2]/W[1] < 1e-3)
{
// a planar structure case (all M's lie in the same plane)
double tt[3], h[9], h1_norm, h2_norm;