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Merge pull request #28817 from Ron12777:codex/fix-multiview-oneline-tests

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Fix issues with MultiViewTest.OneLineInitialGuess and MultiViewTest.OneLine #28817

To fix issues caused by https://github.com/opencv/opencv/issues/28789 
This probably can be fixed for 4.x, but honestly I don't believe it is worth it to have to deal with users tests failing because it was 0.02% off so we can save them like 2 minutes, so I believe it is best to leave the optimization for 5.x. 

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Rohan Mistry
2026-04-20 05:04:22 -04:00
committed by GitHub
parent ad08edab42
commit 924a10069c
3 changed files with 87 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/calib/include/opencv2/calib.hpp
+4 -4
View File
@@ -963,7 +963,7 @@ CV_EXPORTS_AS(calibrateCameraExtended) double calibrateCamera( InputArrayOfArray
OutputArray stdDeviationsExtrinsics,
OutputArray perViewErrors,
int flags = 0, TermCriteria criteria = TermCriteria(
TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON) );
TermCriteria::COUNT + TermCriteria::EPS, 500, DBL_EPSILON) );
/** @overload */
CV_EXPORTS_W double calibrateCamera( InputArrayOfArrays objectPoints,
@@ -971,7 +971,7 @@ CV_EXPORTS_W double calibrateCamera( InputArrayOfArrays objectPoints,
InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
int flags = 0, TermCriteria criteria = TermCriteria(
TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON) );
TermCriteria::COUNT + TermCriteria::EPS, 500, DBL_EPSILON) );
/** @brief Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.
@@ -1040,7 +1040,7 @@ CV_EXPORTS_AS(calibrateCameraROExtended) double calibrateCameraRO( InputArrayOfA
OutputArray stdDeviationsObjPoints,
OutputArray perViewErrors,
int flags = 0, TermCriteria criteria = TermCriteria(
TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON) );
TermCriteria::COUNT + TermCriteria::EPS, 500, DBL_EPSILON) );
/** @overload */
CV_EXPORTS_W double calibrateCameraRO( InputArrayOfArrays objectPoints,
@@ -1049,7 +1049,7 @@ CV_EXPORTS_W double calibrateCameraRO( InputArrayOfArrays objectPoints,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
OutputArray newObjPoints,
int flags = 0, TermCriteria criteria = TermCriteria(
TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON) );
TermCriteria::COUNT + TermCriteria::EPS, 500, DBL_EPSILON) );
/** @brief Calibrates a stereo camera set up. This function finds the intrinsic parameters
for each of the two cameras and the extrinsic parameters between the two cameras.
modules/calib/src/calibration.cpp
+81 -32
View File
@@ -70,7 +70,7 @@ public:
, lambdaLg10(-3)
, iters(0)
, prevErrNorm(DBL_MAX)
, solveMethod(cv::DECOMP_CHOLESKY)
, solveMethod(cv::DECOMP_EIG)
{
}
@@ -105,7 +105,7 @@ public:
iters = 0;
lambdaLg10 = -3;
prevErrNorm = DBL_MAX;
solveMethod = cv::DECOMP_CHOLESKY;
solveMethod = cv::DECOMP_EIG;
}
void reset()
@@ -121,7 +121,7 @@ public:
}
}
void step(const cv::Mat& mask)
bool step(const cv::Mat& mask)
{
const double LOG10 = std::log(10.0);
double lambda = std::exp(lambdaLg10 * LOG10);
@@ -134,11 +134,21 @@ public:
if (solveMethod == cv::DECOMP_QR)
{
cv::Mat I = cv::Mat::eye(6, 6, CV_64F);
cv::solve(V_reg, I, V_inv[i], solveMethod);
if (!cv::solve(V_reg, I, V_inv[i], solveMethod) ||
!cv::checkRange(V_inv[i]))
{
clearUpdates();
return false;
}
}
else
{
cv::invert(V_reg, V_inv[i], solveMethod);
if (cv::invert(V_reg, V_inv[i], solveMethod) == 0.0 ||
!cv::checkRange(V_inv[i]))
{
clearUpdates();
return false;
}
}
}
@@ -172,10 +182,8 @@ public:
if (nactive == 0)
{
deltaGlobal.setTo(0);
for (int i = 0; i < nimages; i++)
deltaLocal[i].setTo(0);
return;
clearUpdates();
return true;
}
cv::Mat S_sub(nactive, nactive, CV_64F);
@@ -198,7 +206,12 @@ public:
// Solve the reduced system
cv::Mat delta_sub;
cv::solve(S_sub, e_sub, delta_sub, solveMethod);
if (!cv::solve(S_sub, e_sub, delta_sub, solveMethod) ||
!cv::checkRange(delta_sub))
{
clearUpdates();
return false;
}
// Distribute the solution into the full update vector
deltaGlobal.setTo(0);
@@ -214,6 +227,7 @@ public:
{
deltaLocal[i] = V_inv[i] * (eb[i] - W[i].t() * deltaGlobal);
}
return true;
}
bool iterate(double errNorm, bool& needsJacobian)
@@ -284,6 +298,13 @@ public:
int lambdaLg10;
private:
void clearUpdates()
{
deltaGlobal.setTo(0);
for (int i = 0; i < nimages; i++)
deltaLocal[i].setTo(0);
}
int iters;
double prevErrNorm;
cv::TermCriteria criteria;
@@ -1398,6 +1419,17 @@ static double calibrateCameraInternalSchur( const Mat& objectPoints,
bool jacobianAtCurrentParams = false;
if (termCrit.maxCount > 0)
{
const auto computeStep = [&solver, &mask]()
{
for (;;)
{
if (solver.step(mask))
return true;
if (++solver.lambdaLg10 > 16)
return false;
}
};
solver.reset();
parallel_for_(Range(0, nimages),
@@ -1409,30 +1441,35 @@ static double calibrateCameraInternalSchur( const Mat& objectPoints,
// flags, aspectRatio, NINTRINSIC,
// releaseObject, maxPoints, globalMutex);
// acc(Range(0, nimages));
solver.step(mask);
double prevErr = reprojErr;
// Apply the initial step
param_m.copyTo(prev_param);
// 1. Global parameters (Intrinsics + Objects)
for (int kk = 0; kk < NINTRINSIC; kk++)
param_m(kk) -= solver.getGlobalUpdate().at<double>(kk);
if (releaseObject)
if (!computeStep())
{
int param_obj_start = NINTRINSIC + nimages * 6;
int num_obj_params = solver.n_global - NINTRINSIC;
for (int kk = 0; kk < num_obj_params; kk++)
param_m(param_obj_start + kk) -= solver.getGlobalUpdate().at<double>(NINTRINSIC + kk);
recomputeFinalErrors = true;
}
for (int i = 0; i < nimages; i++)
else
{
int si = NINTRINSIC + i * 6;
for (int kk = 0; kk < 6; kk++)
param_m(si + kk) -= solver.getLocalUpdate(i).at<double>(kk);
// Apply the initial step
param_m.copyTo(prev_param);
// 1. Global parameters (Intrinsics + Objects)
for (int kk = 0; kk < NINTRINSIC; kk++)
param_m(kk) -= solver.getGlobalUpdate().at<double>(kk);
if (releaseObject)
{
int param_obj_start = NINTRINSIC + nimages * 6;
int num_obj_params = solver.n_global - NINTRINSIC;
for (int kk = 0; kk < num_obj_params; kk++)
param_m(param_obj_start + kk) -= solver.getGlobalUpdate().at<double>(NINTRINSIC + kk);
}
for (int i = 0; i < nimages; i++)
{
int si = NINTRINSIC + i * 6;
for (int kk = 0; kk < 6; kk++)
param_m(si + kk) -= solver.getLocalUpdate(i).at<double>(kk);
}
}
jacobianAtCurrentParams = false;
for (int iter = 0; iter < termCrit.maxCount; iter++)
for (int iter = 0; !recomputeFinalErrors && iter < termCrit.maxCount; iter++)
{
if (flags & CALIB_FIX_ASPECT_RATIO)
{
@@ -1496,7 +1533,8 @@ static double calibrateCameraInternalSchur( const Mat& objectPoints,
flags, aspectRatio, NINTRINSIC,
releaseObject, maxPoints, globalMutex));
jacobianAtCurrentParams = true;
}else
}
else
{
// Step rejected, increase lambda and recompute step
if (++solver.lambdaLg10 > 16)
@@ -1512,7 +1550,12 @@ static double calibrateCameraInternalSchur( const Mat& objectPoints,
}
// Compute step (possibly with new lambda)
solver.step(mask);
if (!computeStep())
{
prev_param.copyTo(param_m);
recomputeFinalErrors = true;
break;
}
// Apply step. Update layouts:
// deltaGlobal: [Intrinsics (0..NINTRINSIC-1) | Object points (NINTRINSIC..n_global-1)]
@@ -1544,6 +1587,11 @@ static double calibrateCameraInternalSchur( const Mat& objectPoints,
}
jacobianAtCurrentParams = false;
}
if (!recomputeFinalErrors)
{
prev_param.copyTo(param_m);
recomputeFinalErrors = true;
}
}
if (flags & CALIB_FIX_ASPECT_RATIO)
@@ -1551,9 +1599,9 @@ static double calibrateCameraInternalSchur( const Mat& objectPoints,
param_m(0) = param_m(1) * aspectRatio;
}
Mat finalErrorsBuf;
if (recomputeFinalErrors)
{
Mat finalErrorsBuf;
Mat* errorsPtr = &allErrorsBuf;
if (!stdDevs.empty())
{
@@ -1673,7 +1721,8 @@ static double calibrateCameraInternalSchur( const Mat& objectPoints,
cv::invert(JtJN, JtJinv, DECOMP_SVD);
int nErrors = 2 * total - nparams_nz;
double sigma2 = norm(allErrorsBuf, NORM_L2SQR) / nErrors;
const Mat& errorsForStats = finalErrorsBuf.empty() ? allErrorsBuf : finalErrorsBuf;
double sigma2 = norm(errorsForStats, NORM_L2SQR) / nErrors;
int j = 0;
for (int s = 0; s < nparams; s++)
modules/calib/test/test_multiview_calib.cpp
+2 -2
View File
@@ -312,7 +312,7 @@ TEST_F(MultiViewTest, OneLine)
std::vector<cv::Vec3f> board_pattern = genAsymmetricObjectPoints();
std::vector<std::vector<cv::Vec3f>> objPoints(num_frames, board_pattern);
std::vector<int> flagsForIntrinsics(3, CALIB_RATIONAL_MODEL | CALIB_DISABLE_SCHUR_COMPLEMENT);
std::vector<int> flagsForIntrinsics(3, CALIB_RATIONAL_MODEL);
std::vector<cv::Mat> Ks, distortions, Rs, Rs_rvec, Ts;
double rms = calibrateMultiview(objPoints, image_points_all, image_sizes, visibility, models,
@@ -388,7 +388,7 @@ TEST_F(MultiViewTest, OneLineInitialGuess)
{
Mat K, dist;
double mono_rms = calibrateMono(board_pattern, image_points_all[c], image_sizes[c],
cv::CALIB_MODEL_PINHOLE, cv::CALIB_RATIONAL_MODEL | CALIB_DISABLE_SCHUR_COMPLEMENT,
cv::CALIB_MODEL_PINHOLE, cv::CALIB_RATIONAL_MODEL,
K, dist);
CV_LOG_INFO(NULL, "K:" << K);