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make projective more generic #44

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Merged
peterkovesi merged 1 commit into from
Jun 27, 2025
Merged

make projective more generic #44

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6 changes: 3 additions & 3 deletions src/projective.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -160,7 +160,7 @@ Returns:
See also: Camera(), camstruct2projmatrix()

"""
function cameraproject(P::Array, pt::Array) # Projection matrix version
function cameraproject(P::Matrix{T}, pt::Array) where T # Projection matrix version

if size(P) != (3,4)
error("Projection matrix must be 3x4")
Expand All @@ -171,7 +171,7 @@ function cameraproject(P::Array, pt::Array) # Projection matrix version
end

nPts = size(pt,2)
xy = zeros(2,nPts)
xy = zeros(T, 2,nPts)

for i in 1:nPts
s = P[3,1]*pt[1,i] + P[3,2]*pt[2,i] + P[3,3]*pt[3,i] + P[3,4]
Expand Down Expand Up @@ -1899,7 +1899,7 @@ function solvestereopt(xy::Array{T1,2}, P::Array{Array{T2,2}}; reprojecterror=fa
@assert N >= 2 "Must have at least 2 camera views"

# Build eqn of the form A*pt = 0
A = zeros(2*N, 4)
A = zeros(T1, 2*N, 4)
for n = 1:N
A[2*n-1,:] = xy[1,n]*P[n][3,:] .- P[n][1,:]
A[2*n ,:] = xy[2,n]*P[n][3,:] .- P[n][2,:]
Expand Down
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