From b1020639f1af91a1e6d76547b8e612ca258ce871 Mon Sep 17 00:00:00 2001 From: Rostislav Vasilikhin Date: Fri, 9 Sep 2022 17:20:27 +0200 Subject: [PATCH] perViewErr fix --- modules/calib/src/calibration.cpp | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/modules/calib/src/calibration.cpp b/modules/calib/src/calibration.cpp index 79ef29897e..a82b53dcd3 100644 --- a/modules/calib/src/calibration.cpp +++ b/modules/calib/src/calibration.cpp @@ -566,10 +566,11 @@ static double calibrateCameraInternal( const Mat& objectPoints, // 3. run the optimization - auto calibCameraLMCallback = [matM, _m, npoints, &allErrors, aspectRatio, &perViewErrors, flags, releaseObject] + Mat perViewErr = perViewErrors ? *perViewErrors : Mat(); + auto calibCameraLMCallback = [matM, _m, npoints, &allErrors, aspectRatio, &perViewErr, flags, releaseObject] (InputOutputArray _param, OutputArray JtErr, OutputArray JtJ, double& errnorm) -> bool { - Mat jterr = JtErr.getMat(), jtj = JtJ.getMat(), perViewErr = perViewErrors ? *perViewErrors : Mat(); + Mat jterr = JtErr.getMat(), jtj = JtJ.getMat(); Mat mparam = _param.getMat(); cameraCalcJErr(matM, _m, npoints, allErrors, mparam, /* calcJ */ JtErr.needed() && JtJ.needed(), jterr, jtj, errnorm, @@ -588,12 +589,13 @@ static double calibrateCameraInternal( const Mat& objectPoints, //std::cout << "single camera calib. param after LM: " << param0.t() << "\n"; + // If solver failed, then the last calculated perViewErr can be wrong & should be recalculated Mat JtErr(nparams, 1, CV_64F), JtJ(nparams, nparams, CV_64F), JtJinv, JtJN; double reprojErr = 0; - JtErr.setZero(); JtJ.setZero(); Mat dummy; + JtErr.setZero(); JtJ.setZero(); cameraCalcJErr(matM, _m, npoints, allErrors, param0, (stdDevs != nullptr), JtErr, JtJ, reprojErr, - aspectRatio, dummy, flags, releaseObject); + aspectRatio, perViewErr, flags, releaseObject); if (stdDevs) { int nparams_nz = countNonZero(mask0); @@ -1078,6 +1080,12 @@ static double stereoCalibrateImpl( // geodesic not supported for normal callbacks LevMarq::Report r = solver.optimize(); + // If solver failed, then the last calculated perViewErr can be wrong & should be recalculated + if (!r.found && !perViewErr.empty()) + { + lmcallback(param, noArray(), noArray(), reprojErr); + } + reprojErr = r.energy; }