[multiview/P3P] bearing vectors are already normalized

rjanvier · Apr 19, 2019 · 03f26b3 · 03f26b3
1 parent 9aa67ed
commit 03f26b3
Showing 1 changed file with 1 addition and 6 deletions.
diff --git a/src/openMVG/multiview/solver_resection_p3p_nordberg.cpp b/src/openMVG/multiview/solver_resection_p3p_nordberg.cpp
@@ -287,15 +287,11 @@ bool computePosesNordberg(
   Vec3 P2 = X.col(1);
   Vec3 P3 = X.col(2);
 
-  // Extraction of feature vectors
+  // Extraction of bearing vectors
   Vec3 f1 = bearing_vectors.col(0);
   Vec3 f2 = bearing_vectors.col(1);
   Vec3 f3 = bearing_vectors.col(2);
 
-  f1.normalize();
-  f2.normalize();
-  f3.normalize();
-
   double b12 = -2.0 * (f1.dot(f2));
   double b13 = -2.0 * (f1.dot(f3));
   double b23 = -2.0 * (f2.dot(f3));
@@ -472,7 +468,6 @@ bool computePosesNordberg(
     }
   }
 
-  // if constexpr (refinement_iterations>0)
   for (int i = 0; i < valid; ++i)
   {
     gauss_newton_refineL(Ls[i], a12, a13, a23, b12, b13, b23);