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Hi,

Thanks in advance to test this code. It's about sfm module. Result should be an exception and error source could be data (may be not well formatted) or this line

#include <opencv2/opencv.hpp> 
#include <opencv2/sfm.hpp> 
int main (int argc,char **argv)
{
    vector<Mat> pt2d;
    pt2d.push_back((Mat_<double>(1, 16) << 64., 298., 560., 405., 271., 298., 514., 417., 651., 435., 561, 373., 497., 369., 350., 241));
    pt2d.push_back((Mat_<double>(1,16)<< 62., 272., 5.1840002441406250e+02, 4.1817602539062500e+02, 268.,266., 513., 359., 649., 371., 559., 227., 495., 229., 346., 205.));
    pt2d.push_back((Mat_<double>(1, 16) << 362., 185., 650., 304., 160., 248., 364., 192., 78., 146., 357.,176., 247., 402., 76., 149));
    pt2d.push_back((Mat_<double>(1, 16) << 668., 296., 5.9040000915527344e+01, 3.8880001831054688e+02,6.5520001220703125e+02, 2.6496002197265625e+02,
        4.9447909545898438e+02, 2.9382092285156250e+02,4.6800003051757813e+01, 9.9600006103515625e+01,5.1120001220703125e+02, 4.1280001831054688e+02,
        1.3080000305175781e+02, 2.4600001525878906e+02,2.6873861694335938e+02, 1.1197442626953125e+02 ));
    for (int i=0;i<pt2d.size();i++)
        pt2d[i]= pt2d[i].reshape(2);
    Vec2d track_pt = pt2d[0].col(0).at<Vec2d>(0);
    vector<Mat> Rs_est, ts_est, points3d_estimated;
    Mat ps,pt3d, K = (cv::Mat_<float>(3, 3) << 350, 0, 240, 0, 350, 360, 0, 0, 1);
    reconstruct(pt2d, Rs_est, points3d_estimated, K, true);
return 0;
}