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