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calibrateCamera: mask f_x when using FIX_ASPECT_RATIO

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this avoids a singular Jacobian such that LM converges when DECOMP_LU is
used.
This commit is contained in:
Pavel Rojtberg 2016-10-18 17:48:36 +02:00
parent 505c19bc20
commit 01b592c8e1
1 changed files with 4 additions and 2 deletions
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6
modules/calib3d/src/calibration.cpp
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@ -787,7 +787,7 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
{
if( dpdc_p )
{
dpdc_p[0] = 1; dpdc_p[1] = 0;
dpdc_p[0] = 1; dpdc_p[1] = 0; // dp_xdc_x; dp_xdc_y
dpdc_p[dpdc_step] = 0;
dpdc_p[dpdc_step+1] = 1;
dpdc_p += dpdc_step*2;
@ -797,7 +797,7 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
{
if( fixedAspectRatio )
{
dpdf_p[0] = 0; dpdf_p[1] = xd*aspectRatio;
dpdf_p[0] = 0; dpdf_p[1] = xd*aspectRatio; // dp_xdf_x; dp_xdf_y
dpdf_p[dpdf_step] = 0;
dpdf_p[dpdf_step+1] = yd;
}
@ -1496,6 +1496,8 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
param[0] = A(0, 0); param[1] = A(1, 1); param[2] = A(0, 2); param[3] = A(1, 2);
std::copy(k, k + 14, param + 4);
if(flags & CALIB_FIX_ASPECT_RATIO)
mask[0] = 0;
if( flags & CV_CALIB_FIX_FOCAL_LENGTH )
mask[0] = mask[1] = 0;
if( flags & CV_CALIB_FIX_PRINCIPAL_POINT )