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Merge pull request #23179 from savuor:port34_stddev_calib_fisheye

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Backport to 3.4 of the fisheye calibration uncertainty fix

* uncertainties fix

* trailing whitespace

* comment added
This commit is contained in:
Rostislav Vasilikhin
2023-01-28 10:56:13 +01:00
committed by GitHub
parent c67d4fc633
commit deaf632881
2 changed files with 9 additions and 4 deletions
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modules/calib3d/src/fisheye.cpp
+6 -1
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@@ -1527,13 +1527,18 @@ 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());
}