Merge pull request #1 from nlw0/patch-1

RANSAC subset sampling bug fix
poine · Aug 21, 2016 · f93eefe · f93eefe
2 parents 2cb2d91 + d5c661c
commit f93eefe
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/PnPsolver.cc b/src/PnPsolver.cc
@@ -196,7 +196,7 @@ cv::Mat PnPsolver::iterate(int nIterations, bool &bNoMore, vector<bool> &vbInlie
 
             add_correspondence(mvP3Dw[idx].x,mvP3Dw[idx].y,mvP3Dw[idx].z,mvP2D[idx].x,mvP2D[idx].y);
 
-            vAvailableIndices[idx] = vAvailableIndices.back();
+            vAvailableIndices[randi] = vAvailableIndices.back();
             vAvailableIndices.pop_back();
         }