From d2f61b36f924b7edba626bf612bc6b8195b8531a Mon Sep 17 00:00:00 2001 From: Sergey Sharybin Date: Fri, 26 Apr 2013 18:25:49 +0000 Subject: Revert 56319, misunderstood API This was completely skipping BA step when point goes behind the camera. --- extern/libmv/libmv/simple_pipeline/bundle.cc | 4 ---- 1 file changed, 4 deletions(-) (limited to 'extern') diff --git a/extern/libmv/libmv/simple_pipeline/bundle.cc b/extern/libmv/libmv/simple_pipeline/bundle.cc index 0aca8790587..f068e050b48 100644 --- a/extern/libmv/libmv/simple_pipeline/bundle.cc +++ b/extern/libmv/libmv/simple_pipeline/bundle.cc @@ -83,10 +83,6 @@ struct OpenCVReprojectionError { x[1] += R_t[4]; x[2] += R_t[5]; - // Prevent bundles from being moved behind the camera. - if (x[2] < T(0)) - return false; - // Compute normalized coordinates: x /= x[2]. T xn = x[0] / x[2]; T yn = x[1] / x[2]; -- cgit v1.2.3