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[sfm] bugfix: ceres::AngleAxisRotatePoint cannot be used in-place #696

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Sep 25, 2019
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[sfm] bugfix: ceres::AngleAxisRotatePoint cannot be used in-place #696

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3 changes: 2 additions & 1 deletion src/aliceVision/sfm/ResidualErrorFunctor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,8 @@ struct ResidualErrorFunctor_Pinhole
const T* cam_t = &subpose_Rt[3];

// Rotate the point according to the camera rotation
ceres::AngleAxisRotatePoint(cam_R, pos_proj, pos_proj);
T pos_proj_tmp[3] = { pos_proj[0], pos_proj[1], pos_proj[2] };
ceres::AngleAxisRotatePoint(cam_R, pos_proj_tmp, pos_proj);

// Apply the camera translation
pos_proj[0] += cam_t[0];
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