Merge pull request opencv#19383 from tomoaki0705:fixWrongIndex

alalek · alalek · commit fb0abdeb4f1a · 2021-01-24T15:23:34.000Z
diff --git a/modules/cudalegacy/src/calib3d.cpp b/modules/cudalegacy/src/calib3d.cpp
@@ -283,7 +283,7 @@ void cv::cuda::solvePnPRansac(const Mat& object, const Mat& image, const Mat& ca
             p_transf.z = rot[6] * p.x + rot[7] * p.y + rot[8] * p.z + transl[2];
             p_proj.x = p_transf.x / p_transf.z;
             p_proj.y = p_transf.y / p_transf.z;
-            if (norm(p_proj - image_normalized.at<Point2f>(0, i)) < max_dist)
+            if (norm(p_proj - image_normalized.at<Point2f>(i)) < max_dist)
                 inliers->push_back(i);
         }
     }

Original file line number	Diff line number	Diff line change
`@@ -283,7 +283,7 @@ void cv::cuda::solvePnPRansac(const Mat& object, const Mat& image, const Mat& ca`
`283`	`283`	`p_transf.z = rot[6] * p.x + rot[7] * p.y + rot[8] * p.z + transl[2];`
`284`	`284`	`p_proj.x = p_transf.x / p_transf.z;`
`285`	`285`	`p_proj.y = p_transf.y / p_transf.z;`
`286`		`- if (norm(p_proj - image_normalized.at<Point2f>(0, i)) < max_dist)`
	`286`	`+ if (norm(p_proj - image_normalized.at<Point2f>(i)) < max_dist)`
`287`	`287`	`inliers->push_back(i);`
`288`	`288`	`}`
`289`	`289`	`}`