very slow even when only 40 points about pymagsac

[zjhthu]

it seems the bug comes from this line. Eigen fails when the last element in polynomial is near zero.

[ducha-aiki]

Thanks for the catch! I remember that @danini told me a week ago about similar (or the same) problem with EIGEN and GC-RANSAC, not sure what we can do now :(

[zjhthu]

The 7point algorithm implemented in OpenCV does not use Eigen for solving the cubic polynomial. Actually the cubic polynomial can be solved easily like this and this. I will copy the code in OpenCV to fix it.

[ducha-aiki]

Thank you for the fix. @danini mentioned that he submitted bug report to the eigen. If they don't fix it, then I'll merge.

[sailor-z]

@zjhthu Have you fixed it? I‘ve met the same error. ’

[zjhthu]

you can use this repo.

[sailor-z]

It works. Thank you so much @zjhthu.