From afc129a7f480850a1fd1750af28d3bd9a76c0469 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Thu, 29 Aug 2019 13:45:25 +0300
Subject: [PATCH] Added missing error check
F can't be estimated should cameras have critical configuration.
---
applications/calibration-multi/src/multicalibrate.cpp | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/applications/calibration-multi/src/multicalibrate.cpp b/applications/calibration-multi/src/multicalibrate.cpp
index 074e778ed..2292d178d 100644
--- a/applications/calibration-multi/src/multicalibrate.cpp
+++ b/applications/calibration-multi/src/multicalibrate.cpp
@@ -393,6 +393,13 @@ double MultiCameraCalibrationNew::calibratePair(size_t camera_from, size_t camer
vector<uchar> inliers;
Mat F, E;
F = cv::findFundamentalMat(points1, points2, fm_method_, fm_ransac_threshold_, fm_confidence_, inliers);
+
+ if (F.empty())
+ {
+ LOG(ERROR) << "Fundamental matrix estimation failed. Possibly degenerate configuration?";
+ return INFINITY;
+ }
+
E = K2.t() * F * K1;
// Only include inliers
--
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