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Merge pull request #26531 from mshabunin:fix-usac-vector-access-5x

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calib3d: fix vector access in USAC (5.x)
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Alexander Smorkalov
2024-11-26 22:15:50 +03:00
committed by GitHub
parent 37e13f9dcf 57b31e2d4b
commit d6b674a3de
1 changed files with 1 additions and 1 deletions
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modules/3d/src/usac/fundamental_solver.cpp
+1 -1
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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;