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perViewErr fix

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Rostislav Vasilikhin 2022-09-09 17:20:27 +02:00
parent 8bfb419b0f
commit b1020639f1
1 changed files with 12 additions and 4 deletions
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16
modules/calib/src/calibration.cpp
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@ -566,10 +566,11 @@ static double calibrateCameraInternal( const Mat& objectPoints,
// 3. run the optimization // 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 (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(); Mat mparam = _param.getMat();
cameraCalcJErr(matM, _m, npoints, allErrors, mparam, /* calcJ */ JtErr.needed() && JtJ.needed(), cameraCalcJErr(matM, _m, npoints, allErrors, mparam, /* calcJ */ JtErr.needed() && JtJ.needed(),
jterr, jtj, errnorm, jterr, jtj, errnorm,
@ -588,12 +589,13 @@ static double calibrateCameraInternal( const Mat& objectPoints,
//std::cout << "single camera calib. param after LM: " << param0.t() << "\n"; //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; Mat JtErr(nparams, 1, CV_64F), JtJ(nparams, nparams, CV_64F), JtJinv, JtJN;
double reprojErr = 0; double reprojErr = 0;
JtErr.setZero(); JtJ.setZero(); Mat dummy; JtErr.setZero(); JtJ.setZero();
cameraCalcJErr(matM, _m, npoints, allErrors, param0, (stdDevs != nullptr), cameraCalcJErr(matM, _m, npoints, allErrors, param0, (stdDevs != nullptr),
JtErr, JtJ, reprojErr, JtErr, JtJ, reprojErr,
aspectRatio, dummy, flags, releaseObject); aspectRatio, perViewErr, flags, releaseObject);
if (stdDevs) if (stdDevs)
{ {
int nparams_nz = countNonZero(mask0); int nparams_nz = countNonZero(mask0);
@ -1078,6 +1080,12 @@ static double stereoCalibrateImpl(
// geodesic not supported for normal callbacks // geodesic not supported for normal callbacks
LevMarq::Report r = solver.optimize(); 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; reprojErr = r.energy;
} }