WebSVN – seema-scanner – Diff – /src/algorithm/AlgorithmGrayCodeHorzVert.cpp

 //        cv::Vec3b c1 = getColorSubpix(color1, q1[i]);
         color[i] = 0.5*c0 + 0.5*c1;
+    }
+    //cv::correctMatches(calibration.F, q0, q1, q0, q1);
+    // correct lens distortion
+    cv::undistortPoints(q0, q0, calibration.K0, calibration.k0, cv::noArray(), calibration.K0);
+    cv::undistortPoints(q1, q1, calibration.K1, calibration.k1, cv::noArray(), calibration.K1);
+    cv::correctMatches(calibration.F, q0, q1, q0, q1);
     // triangulate points
     cv::Mat P0(3, 4, CV_32F, cv::Scalar(0.0));
     cv::Mat(calibration.K0).copyTo(P0.colRange(0, 3));
     cv::Mat P1(3, 4, CV_32F), temp(3,4,CV_32F);
     cv::Mat(calibration.R1).copyTo(temp(cv::Range(0,3), cv::Range(0,3)));
     cv::Mat(calibration.T1).copyTo(temp(cv::Range(0,3), cv::Range(3,4)));
     P1 = cv::Mat(calibration.K1) * temp;
-    cv::correctMatches(calibration.F, q0, q1, q0, q1);
     cv::Mat QMatHomogenous, QMat;
     cv::triangulatePoints(P0, P1, q0, q1, QMatHomogenous);
     cvtools::convertMatFromHomogeneous(QMatHomogenous, QMat);
     cvtools::matToPoints3f(QMat, Q);

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