fixed iterative LinearLSTriangulation doing the same as the non-itera…

…tive one
guivi01 · Aug 20, 2013 · 9dab33e · 9dab33e
1 parent 8736df1
commit 9dab33e
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/Chapter4_StructureFromMotion/Triangulation.cpp b/Chapter4_StructureFromMotion/Triangulation.cpp
@@ -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);