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Fix error message fisheye CALIB_CHECK_COND

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The old error message was not giving any hint which input array (image)
led to an ill conditioned matrix. This made it near impossible to
identify poor images in a larger set.

A better approach would be to implement a checker function which gives
each image a rating before the real calibration is performed. This could
also include some image properties like sharpness, etc.
This commit is contained in:
Alexander Duda 2017-07-01 13:31:21 -02:30
parent e5aa213554
commit 5ca7dcc6e7
1 changed files with 2 additions and 1 deletions
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3
modules/calib3d/src/fisheye.cpp
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@ -1401,7 +1401,8 @@ void cv::internal::CalibrateExtrinsics(InputArrayOfArrays objectPoints, InputArr
if (check_cond)
{
SVD svd(JJ_kk, SVD::NO_UV);
CV_Assert(svd.w.at<double>(0) / svd.w.at<double>((int)svd.w.total() - 1) < thresh_cond);
if(svd.w.at<double>(0) / svd.w.at<double>((int)svd.w.total() - 1) > thresh_cond )
CV_Error( cv::Error::StsInternal, format("CALIB_CHECK_COND - Ill-conditioned matrix for input array %d",image_idx));
}
omckk.reshape(3,1).copyTo(omc.getMat().col(image_idx));
Tckk.reshape(3,1).copyTo(Tc.getMat().col(image_idx));