From 51822f2072268ececcc58da87640631575b588d7 Mon Sep 17 00:00:00 2001
From: Vadim Pisarevsky <no@email>
Date: Mon, 4 Oct 2010 13:46:37 +0000
Subject: [PATCH] possible fix for ticket 380 (should not hurt camera
 calibration engine, as the fix only affects non-planar objects)

---
 modules/calib3d/src/calibration.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/modules/calib3d/src/calibration.cpp b/modules/calib3d/src/calibration.cpp
index e4fa225fae..73efc7597c 100644
--- a/modules/calib3d/src/calibration.cpp
+++ b/modules/calib3d/src/calibration.cpp
@@ -1279,10 +1279,10 @@ CV_IMPL void cvFindExtrinsicCameraParams2( const CvMat* objectPoints,
             _RRt = cvMat( 3, 4, CV_64F, LV + 11*12 );
             cvGetCols( &_RRt, &_RR, 0, 3 );
             cvGetCol( &_RRt, &_tt, 3 );
-            if( cvDet(&_RR) < 0 )
-                cvScale( &_RRt, &_RRt, -1 );
             sc = cvNorm(&_RR);
             cvSVD( &_RR, &matW, &matU, &matV, CV_SVD_MODIFY_A + CV_SVD_U_T + CV_SVD_V_T );
+            if( W[0]*W[1]*W[2] < 0 )
+                sc = -sc;
             cvGEMM( &matU, &matV, 1, 0, 0, &matR, CV_GEMM_A_T );
             cvScale( &_tt, &_t, cvNorm(&matR)/sc );
             cvRodrigues2( &matR, &_r );