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Fix out of bounds in calibrateAndNormalizePointsPnP

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ipoints can have 3 or 4 points.
This commit is contained in:
Vincent Rabaud
2025-11-13 11:14:39 +01:00
parent 8f0c9ffe90
commit 49fc1dd796
1 changed files with 1 additions and 1 deletions
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modules/calib3d/src/p3p.cpp
+1 -1
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@@ -173,7 +173,7 @@ void p3p::calibrateAndNormalizePointsPnP(const Mat &opoints_, const Mat &ipoints
Mat ipoints;
convertPoints(ipoints_, ipoints, 2);
for (int i = 0; i < ipoints.rows; i++) {
for (int i = 0; i < 3; i++) {
const double k_inv_u = ipoints.at<double>(i, 0);
const double k_inv_v = ipoints.at<double>(i, 1);
double x_norm = 1.0 / sqrt(k_inv_u*k_inv_u + k_inv_v*k_inv_v + 1);