mirror/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2024-12-12 23:49:36 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Merge pull request #22491 from savuor:calib_perview_fix

Browse Source 
Calibration per view error fixed
This commit is contained in:
Alexander Smorkalov 2022-09-10 09:27:04 +03:00 committed by GitHub
commit f199cf91f3
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 12 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
modules/calib/src/calibration.cpp
View File

@ -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;
}