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Merge remote-tracking branch 'upstream/3.4' into merge-3.4

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This commit is contained in:
Alexander Alekhin
2023-01-28 10:01:23 +00:00
parent 4d918ba40b deaf632881
commit d3ae175bca
6 changed files with 302 additions and 30 deletions
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modules/calib3d/src/calibration.cpp
+14 -11
View File
@@ -1670,6 +1670,12 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
}
}
Mat mask = cvarrToMat(solver.mask);
int nparams_nz = countNonZero(mask);
if (nparams_nz >= 2 * total)
CV_Error_(CV_StsBadArg,
("There should be less vars to optimize (having %d) than the number of residuals (%d = 2 per point)", nparams_nz, 2 * total));
// 2. initialize extrinsic parameters
for( i = 0, pos = 0; i < nimages; i++, pos += ni )
{
@@ -1795,27 +1801,24 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
{
if( stdDevs )
{
Mat mask = cvarrToMat(solver.mask);
int nparams_nz = countNonZero(mask);
Mat JtJinv, JtJN;
JtJN.create(nparams_nz, nparams_nz, CV_64F);
subMatrix(cvarrToMat(_JtJ), JtJN, mask, mask);
completeSymm(JtJN, false);
cv::invert(JtJN, JtJinv, DECOMP_SVD);
//sigma2 is deviation of the noise
//see any papers about variance of the least squares estimator for
//detailed description of the variance estimation methods
double sigma2 = norm(allErrors, NORM_L2SQR) / (total - nparams_nz);
// an explanation of that denominator correction can be found here:
// R. Hartley, A. Zisserman, Multiple View Geometry in Computer Vision, 2004, section 5.1.3, page 134
// see the discussion for more details: https://github.com/opencv/opencv/pull/22992
int nErrors = 2 * total - nparams_nz;
double sigma2 = norm(allErrors, NORM_L2SQR) / nErrors;
Mat stdDevsM = cvarrToMat(stdDevs);
int j = 0;
for ( int s = 0; s < nparams; s++ )
{
stdDevsM.at<double>(s) = mask.data[s] ? std::sqrt(JtJinv.at<double>(j,j) * sigma2) : 0.0;
if( mask.data[s] )
{
stdDevsM.at<double>(s) = std::sqrt(JtJinv.at<double>(j,j) * sigma2);
j++;
}
else
stdDevsM.at<double>(s) = 0.;
}
}
break;
}
modules/calib3d/src/fisheye.cpp
+6 -1
View File
@@ -1594,13 +1594,18 @@ void cv::internal::EstimateUncertainties(InputArrayOfArrays objectPoints, InputA
Vec<double, 1> sigma_x;
meanStdDev(ex.reshape(1, 1), noArray(), sigma_x);
sigma_x *= sqrt(2.0 * (double)ex.total()/(2.0 * (double)ex.total() - 1.0));
Mat JJ2, ex3;
ComputeJacobians(objectPoints, imagePoints, params, omc, Tc, check_cond, thresh_cond, JJ2, ex3);
sqrt(JJ2.inv(), JJ2);
int nParams = JJ2.rows;
// an explanation of that denominator correction can be found here:
// R. Hartley, A. Zisserman, Multiple View Geometry in Computer Vision, 2004, section 5.1.3, page 134
// see the discussion for more details: https://github.com/opencv/opencv/pull/22992
sigma_x *= sqrt(2.0 * (double)ex.total()/(2.0 * (double)ex.total() - nParams));
errors = 3 * sigma_x(0) * JJ2.diag();
rms = sqrt(norm(ex, NORM_L2SQR)/ex.total());
}