fix calculation for fundmental_matrix (#125)

colmap · Oct 18, 2024 · 98fa29a · 98fa29a
1 parent 55e40b1
commit 98fa29a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/glomap/math/two_view_geometry.cc b/glomap/math/two_view_geometry.cc
@@ -51,7 +51,7 @@ void FundamentalFromMotionAndCameras(const Camera& camera1,
                                      Eigen::Matrix3d* F) {
   Eigen::Matrix3d E;
   EssentialFromMotion(pose, &E);
-  *F = camera1.GetK().transpose().inverse() * E * camera2.GetK().inverse();
+  *F = camera2.GetK().transpose().inverse() * E * camera1.GetK().inverse();
 }
 
 double SampsonError(const Eigen::Matrix3d& E,