Commit a936cb08 authored by Alexander Alekhin's avatar Alexander Alekhin

calib3d: fix fisheye for test fisheyeTest.stereoCalibrateFixIntrinsic

parent 69949025
......@@ -1040,7 +1040,9 @@ double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
int b = cv::countNonZero(intrinsicRight.isEstimate);
cv::Mat deltas;
solve(J.t() * J, J.t()*e, deltas);
if (a > 0)
intrinsicLeft = intrinsicLeft + deltas.rowRange(0, a);
if (b > 0)
intrinsicRight = intrinsicRight + deltas.rowRange(a, a + b);
omcur = omcur + cv::Vec3d(deltas.rowRange(a + b, a + b + 3));
Tcur = Tcur + cv::Vec3d(deltas.rowRange(a + b + 3, a + b + 6));
......
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