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FocalFromFundamental does not handle the case when optical centers converge (no result is possible)
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Steps to reproduce:

  1. Create a fundamental matrix corresponding to two cameras with crossing viewing directions.
  2. Call focal from fundamental

An assert fails because it tries to compute the sqrt of a negative number. The function should return some kind of error, so that the caller can do
something accordingly.

Originally from:, filed by Pau Gargallo



Event Timeline

Keir Mierle (keir) added a project: Libmv.
Keir Mierle (keir) set Type to Bug.
Keir Mierle (keir) created this task.
Keir Mierle (keir) raised the priority of this task from to Normal.