From 37db334f8a066e7c9b6e2723b713027acd872e60 Mon Sep 17 00:00:00 2001
From: Ilya Lysenkov <no@email>
Date: Thu, 29 Mar 2012 10:39:06 +0000
Subject: [PATCH] Added wrappers of cvTriangulatePoints()

---
 .../calib3d/include/opencv2/calib3d/calib3d.hpp  |  4 ++++
 modules/calib3d/src/triangulate.cpp              | 16 ++++++++++++++++
 2 files changed, 20 insertions(+)

diff --git a/modules/calib3d/include/opencv2/calib3d/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d/calib3d.hpp
index 21c84a4700..65bdb878b2 100644
--- a/modules/calib3d/include/opencv2/calib3d/calib3d.hpp
+++ b/modules/calib3d/include/opencv2/calib3d/calib3d.hpp
@@ -674,6 +674,10 @@ CV_EXPORTS void computeCorrespondEpilines( InputArray points1,
                                            int whichImage, InputArray F,
                                            OutputArray lines );
 
+CV_EXPORTS_W void triangulatePoints( InputArray projMatr1, InputArray projMatr2,
+                                     InputArray projPoints1, InputArray projPoints2,
+                                     OutputArray points4D );
+
 template<> CV_EXPORTS void Ptr<CvStereoBMState>::delete_obj();
 
 /*!
diff --git a/modules/calib3d/src/triangulate.cpp b/modules/calib3d/src/triangulate.cpp
index 41a0df2259..fd2ef521f4 100644
--- a/modules/calib3d/src/triangulate.cpp
+++ b/modules/calib3d/src/triangulate.cpp
@@ -407,3 +407,19 @@ cvCorrectMatches(CvMat *F_, CvMat *points1_, CvMat *points2_, CvMat *new_points1
     if( new_points2 )
         cvConvert( points2, new_points2 );
 }
+
+void cv::triangulatePoints( InputArray _projMatr1, InputArray _projMatr2,
+                            InputArray _projPoints1, InputArray _projPoints2,
+                            OutputArray _points4D )
+{
+    Mat matr1 = _projMatr1.getMat(), matr2 = _projMatr2.getMat();
+    Mat points1 = _projPoints1.getMat(), points2 = _projPoints2.getMat();
+
+    CvMat cvMatr1 = matr1, cvMatr2 = matr2;
+    CvMat cvPoints1 = points1, cvPoints2 = points2;
+
+    _points4D.create(4, points1.cols, points1.type());
+    CvMat cvPoints4D = _points4D.getMat();
+
+    cvTriangulatePoints(&cvMatr1, &cvMatr2, &cvPoints1, &cvPoints2, &cvPoints4D);
+}