[Trifocal+P2Pt] revert chirality simplification due to fails

rfabbri · Nov 12, 2024 · a316e03 · a316e03
1 parent b0e1d5f
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diff --git a/src/openMVG/cameras/Camera_Intrinsics.hpp b/src/openMVG/cameras/Camera_Intrinsics.hpp
@@ -345,8 +345,9 @@ inline bool CheiralityTest
   const Vec3 & X
 )
 {
-  assert(bearing.dot(pose(X)) > 0.0 == pose(X)(2) > 0.0);
-  return pose(X)(2) > 0.0;
+//  assert(bearing.dot(pose(X)) > 0.0 == pose(X)(2) > 0.0);
+  return bearing.dot(pose(X)) > 0.0;
+//  return pose(X)(2) > 0.0;
 }
 
 /**

diff --git a/src/openMVG_Samples/multiview_trifocal/README.md b/src/openMVG_Samples/multiview_trifocal/README.md
@@ -220,4 +220,8 @@ Since your solver is using less points than some other solver, we could perhaps
 
 # Export matches/tracks
 
+/Users/rfabbri/cprg/vxlprg/lemsvpe/openMVG/src/openMVG/matching
+ - see indMatch_test.cpp for the format of matches.txt
+ - you can also convert a matches.f.bin to matches.f.txt using a utility - matches connverter
+