Merge pull request #11581 from mdfirman:rectify3Collinear_bugfix

19239169 · Alexander Alekhin · 3654fb10 · e8cb6757 · 19239169
Commit 19239169 authored 6 years ago by Alexander Alekhin
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calibration.cpp modules/calib3d/src/calibration.cpp +1 -1

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--- a/modules/calib3d/src/calibration.cpp
+++ b/modules/calib3d/src/calibration.cpp
@@ -3889,7 +3889,7 @@ float cv::rectify3Collinear( InputArray _cameraMatrix1, InputArray _distCoeffs1,
    P3.at<double>(0,3) *= P3.at<double>(0,0);
    P3.at<double>(1,3) *= P3.at<double>(1,1);

-    if( !_imgpt1.empty() && _imgpt3.empty() )
+    if( !_imgpt1.empty() && !_imgpt3.empty() )
        adjust3rdMatrix(_imgpt1, _imgpt3, _cameraMatrix1.getMat(), _distCoeffs1.getMat(),
                        _cameraMatrix3.getMat(), _distCoeffs3.getMat(), _Rmat1.getMat(), R3, P1, P3);