[opencv] 46/89: calib3d: fix fisheye for test fisheyeTest.stereoCalibrateFixIntrinsic

[Nobuhiro Iwamatsu]

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iwamatsu pushed a commit to annotated tag 2.4.13.2
in repository opencv.

commit 56ed8b172137cd737c393cd0d5978922c822a310
Author: Alexander Alekhin <alexander.alekhin at intel.com>
Date:   Tue Nov 15 22:25:42 2016 +0300

    calib3d: fix fisheye for test fisheyeTest.stereoCalibrateFixIntrinsic
---
 modules/calib3d/src/fisheye.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/modules/calib3d/src/fisheye.cpp b/modules/calib3d/src/fisheye.cpp
index 9882cd8..a2f117b 100644
--- a/modules/calib3d/src/fisheye.cpp
+++ b/modules/calib3d/src/fisheye.cpp
@@ -1028,8 +1028,10 @@ double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
         int a = cv::countNonZero(intrinsicLeft.isEstimate);
         int b = cv::countNonZero(intrinsicRight.isEstimate);
         cv::Mat deltas = J2_inv * J.t() * e;
-        intrinsicLeft = intrinsicLeft + deltas.rowRange(0, a);
-        intrinsicRight = intrinsicRight + deltas.rowRange(a, a + b);
+        if (a > 0)
+            intrinsicLeft = intrinsicLeft + deltas.rowRange(0, a);
+        if (b > 0)
+            intrinsicRight = intrinsicRight + deltas.rowRange(a, a + b);
         omcur = omcur + cv::Vec3d(deltas.rowRange(a + b, a + b + 3));
         Tcur = Tcur + cv::Vec3d(deltas.rowRange(a + b + 3, a + b + 6));
         for (int image_idx = 0; image_idx < n_images; ++image_idx)

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