From 54864909ee9a88e380601a596dca4afa12c8e19f Mon Sep 17 00:00:00 2001 From: B0RJA Date: Wed, 10 May 2017 08:07:10 +0200 Subject: [PATCH] Fix typo in ReconstructH condition I assume the propose of this statement is to verify that the second solution is close to the best one --- src/Initializer.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Initializer.cc b/src/Initializer.cc index 3ee9cfdf..96ad5485 100644 --- a/src/Initializer.cc +++ b/src/Initializer.cc @@ -716,7 +716,7 @@ bool Initializer::ReconstructH(vector &vbMatchesInliers, cv::Mat &H21, cv: } - if(secondBestGood<0.75*bestGood && bestParallax>=minParallax && bestGood>minTriangulated && bestGood>0.9*N) + if(secondBestGood>0.75*bestGood && bestParallax>=minParallax && bestGood>minTriangulated && bestGood>0.9*N) { vR[bestSolutionIdx].copyTo(R21); vt[bestSolutionIdx].copyTo(t21);