From 9dab33eb2ce62ed5cea4b4fb16a048454d3652a9 Mon Sep 17 00:00:00 2001
From: bob <bob@bob-System-Product-Name.(none)>
Date: Tue, 20 Aug 2013 10:35:25 +0200
Subject: [PATCH] fixed iterative LinearLSTriangulation doing the same as the
 non-iterative one

---
 Chapter4_StructureFromMotion/Triangulation.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/Chapter4_StructureFromMotion/Triangulation.cpp b/Chapter4_StructureFromMotion/Triangulation.cpp
index 45f6118..b77ef6d 100755
--- a/Chapter4_StructureFromMotion/Triangulation.cpp
+++ b/Chapter4_StructureFromMotion/Triangulation.cpp
@@ -73,9 +73,11 @@ Mat_<double> IterativeLinearLSTriangulation(Point3d u,	//homogenous image point
 											) {
 	double wi = 1, wi1 = 1;
 	Mat_<double> X(4,1); 
-	for (int i=0; i<10; i++) { //Hartley suggests 10 iterations at most
-		Mat_<double> X_ = LinearLSTriangulation(u,P,u1,P1);
-		X(0) = X_(0); X(1) = X_(1); X(2) = X_(2); X(3) = 1.0;
+
+	Mat_<double> X_ = LinearLSTriangulation(u,P,u1,P1);
+	X(0) = X_(0); X(1) = X_(1); X(2) = X_(2); X(3) = 1.0;
+
+	for (int i=0; i<10; i++) { //Hartley suggests 10 iterations at most		
 		
 		//recalculate weights
 		double p2x = Mat_<double>(Mat_<double>(P).row(2)*X)(0);