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fixed iterative LinearLSTriangulation #15

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Merged
merged 1 commit into from
Apr 13, 2015
Merged

fixed iterative LinearLSTriangulation #15

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8 changes: 5 additions & 3 deletions Chapter4_StructureFromMotion/Triangulation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,9 +73,11 @@ Mat_<double> IterativeLinearLSTriangulation(Point3d u, //homogenous image point
) {
double wi = 1, wi1 = 1;
Mat_<double> X(4,1);
for (int i=0; i<10; i++) { //Hartley suggests 10 iterations at most
Mat_<double> X_ = LinearLSTriangulation(u,P,u1,P1);
X(0) = X_(0); X(1) = X_(1); X(2) = X_(2); X(3) = 1.0;

Mat_<double> X_ = LinearLSTriangulation(u,P,u1,P1);
X(0) = X_(0); X(1) = X_(1); X(2) = X_(2); X(3) = 1.0;

for (int i=0; i<10; i++) { //Hartley suggests 10 iterations at most

//recalculate weights
double p2x = Mat_<double>(Mat_<double>(P).row(2)*X)(0);
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