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Merge pull request #13910 from x3lif:Issue_13908

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* Fix Issue 13908

Allocate the matrix _Jo only when the solver needs it (ie when solver.state == CvLevMarq::CALC_J)

* Fix calib3D unit test

Fix _Jo allocation when stddev is not empty

* Removing trailing whitespaces

* scope _dp* variables

* fix whitespaces
This commit is contained in:
x3lif 2019-03-04 17:34:10 +01:00 committed by Alexander Alekhin
parent 7444f0c651
commit 19cf511895
1 changed files with 19 additions and 14 deletions
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27
modules/calib3d/src/calibration.cpp
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@ -1520,10 +1520,6 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
nparams = NINTRINSIC + nimages*6;
if( releaseObject )
nparams += maxPoints * 3;
Mat _Ji( maxPoints*2, NINTRINSIC, CV_64FC1, Scalar(0));
Mat _Je( maxPoints*2, 6, CV_64FC1 );
Mat _Jo( maxPoints*2, maxPoints*3, CV_64FC1, Scalar(0) );
Mat _err( maxPoints*2, 1, CV_64FC1 );
_k = cvMat( distCoeffs->rows, distCoeffs->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), k);
if( distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) < 8 )
@ -1587,6 +1583,13 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
CvLevMarq solver( nparams, 0, termCrit );
Mat _Ji( maxPoints*2, NINTRINSIC, CV_64FC1, Scalar(0));
Mat _Je( maxPoints*2, 6, CV_64FC1 );
Mat _err( maxPoints*2, 1, CV_64FC1 );
const bool allocJo = (solver.state == CvLevMarq::CALC_J) || stdDevs;
Mat _Jo = allocJo ? Mat( maxPoints*2, maxPoints*3, CV_64FC1, Scalar(0) ) : Mat();
if(flags & CALIB_USE_LU) {
solver.solveMethod = DECOMP_LU;
}
@ -1720,20 +1723,22 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
_Je.resize(ni*2); _Ji.resize(ni*2); _err.resize(ni*2);
_Jo.resize(ni*2);
CvMat _mp = cvMat(_err.reshape(2, 1));
if( calcJ )
{
CvMat _dpdr = cvMat(_Je.colRange(0, 3));
CvMat _dpdt = cvMat(_Je.colRange(3, 6));
CvMat _dpdf = cvMat(_Ji.colRange(0, 2));
CvMat _dpdc = cvMat(_Ji.colRange(2, 4));
CvMat _dpdk = cvMat(_Ji.colRange(4, NINTRINSIC));
CvMat _dpdo = cvMat(_Jo.colRange(0, ni * 3));
CvMat _mp = cvMat(_err.reshape(2, 1));
CvMat _dpdo = _Jo.empty() ? CvMat() : cvMat(_Jo.colRange(0, ni * 3));
if( calcJ )
{
cvProjectPoints2Internal( &_Mi, &_ri, &_ti, &matA, &_k, &_mp, &_dpdr, &_dpdt,
(flags & CALIB_FIX_FOCAL_LENGTH) ? 0 : &_dpdf,
(flags & CALIB_FIX_PRINCIPAL_POINT) ? 0 : &_dpdc, &_dpdk,
&_dpdo,
(flags & CALIB_FIX_FOCAL_LENGTH) ? nullptr : &_dpdf,
(flags & CALIB_FIX_PRINCIPAL_POINT) ? nullptr : &_dpdc, &_dpdk,
(_Jo.empty()) ? nullptr: &_dpdo,
(flags & CALIB_FIX_ASPECT_RATIO) ? aspectRatio : 0);
}
else