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Fix minor bugs in calibration.

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- the asserts are contradictory with the asserts below
- fix when rvecs/tvecs are requested
This commit is contained in:
Vincent Rabaud
2024-11-15 09:35:08 +01:00
parent cd5dbf9389
commit d46280507e
1 changed files with 2 additions and 7 deletions
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modules/calib/src/calibration.cpp
+2 -7
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@@ -197,7 +197,6 @@ static double calibrateCameraInternal( const Mat& objectPoints,
{
int cn = rvecs.channels();
CV_Assert(rvecs.depth() == CV_32F || rvecs.depth() == CV_64F);
CV_Assert(rvecs.rows == nimages);
CV_Assert((rvecs.rows == nimages && (rvecs.cols*cn == 3 || rvecs.cols*cn == 3)) ||
(rvecs.rows == 1 && rvecs.cols == nimages && cn == 3));
}
@@ -206,7 +205,6 @@ static double calibrateCameraInternal( const Mat& objectPoints,
{
int cn = tvecs.channels();
CV_Assert(tvecs.depth() == CV_32F || tvecs.depth() == CV_64F);
CV_Assert(tvecs.rows == nimages);
CV_Assert((tvecs.rows == nimages && tvecs.cols*cn == 3) ||
(tvecs.rows == 1 && tvecs.cols == nimages && cn == 3));
}
@@ -235,7 +233,6 @@ static double calibrateCameraInternal( const Mat& objectPoints,
{
int cn = newObjPoints.channels();
CV_Assert(newObjPoints.depth() == CV_32F || newObjPoints.depth() == CV_64F);
CV_Assert(rvecs.rows == nimages);
CV_Assert((newObjPoints.rows == maxPoints && newObjPoints.cols*cn == 3) ||
(newObjPoints.rows == 1 && newObjPoints.cols == maxPoints && cn == 3));
}
@@ -613,7 +610,6 @@ static double calibrateCameraInternal( const Mat& objectPoints,
{
if( !rvecs.empty() )
{
//TODO: fix it
Mat src = Mat(3, 1, CV_64F, param.data() + NINTRINSIC + i*6);
if( rvecs.rows == nimages && rvecs.cols*rvecs.channels() == 9 )
{
@@ -624,16 +620,15 @@ static double calibrateCameraInternal( const Mat& objectPoints,
else
{
Mat dst(3, 1, rvecs.depth(), rvecs.rows == 1 ?
rvecs.data + i*rvecs.elemSize1() : rvecs.ptr(i));
rvecs.data + i*rvecs.elemSize() : rvecs.ptr(i));
src.convertTo(dst, dst.type());
}
}
if( !tvecs.empty() )
{
//TODO: fix it
Mat src(3, 1, CV_64F, param.data() + NINTRINSIC + i*6 + 3);
Mat dst(3, 1, tvecs.depth(), tvecs.rows == 1 ?
tvecs.data + i*tvecs.elemSize1() : tvecs.ptr(i));
tvecs.data + i*tvecs.elemSize() : tvecs.ptr(i));
src.convertTo(dst, dst.type());
}
}