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omnidir: fix wrong memory access in estimateUncertainties

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This commit is contained in:
Vladislav Sovrasov
2017-08-24 16:35:44 +03:00
parent f953e690ca
commit 7a676914e8
2 changed files with 1 additions and 51 deletions
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4
modules/ccalib/include/opencv2/ccalib/omnidir.hpp
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@@ -278,8 +278,6 @@ namespace internal
double computeMeanReproErrStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputArray K1, InputArray K2, double computeMeanReproErrStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputArray K1, InputArray K2,
InputArray D1, InputArray D2, double xi1, double xi2, InputArray om, InputArray T, InputArrayOfArrays omL, InputArrayOfArrays TL); InputArray D1, InputArray D2, double xi1, double xi2, InputArray om, InputArray T, InputArrayOfArrays omL, InputArrayOfArrays TL);
void checkFixed(Mat &G, int flags, int n);
void subMatrix(const Mat& src, Mat& dst, const std::vector<int>& cols, const std::vector<int>& rows); void subMatrix(const Mat& src, Mat& dst, const std::vector<int>& cols, const std::vector<int>& rows);
void flags2idx(int flags, std::vector<int>& idx, int n); void flags2idx(int flags, std::vector<int>& idx, int n);
@@ -309,4 +307,4 @@ namespace internal
} // omnidir } // omnidir
} //cv } //cv
#endif #endif

48
modules/ccalib/src/omnidir.cpp
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@@ -1785,8 +1785,6 @@ void cv::omnidir::internal::estimateUncertainties(InputArrayOfArrays objectPoint
errors = 3 * s * _JTJ_inv.diag(); errors = 3 * s * _JTJ_inv.diag();
checkFixed(errors, flags, n);
rms = 0; rms = 0;
const Vec2d* ptr_ex = reprojError.ptr<Vec2d>(); const Vec2d* ptr_ex = reprojError.ptr<Vec2d>();
for (int i = 0; i < (int)reprojError.total(); i++) for (int i = 0; i < (int)reprojError.total(); i++)
@@ -1995,52 +1993,6 @@ double cv::omnidir::internal::computeMeanReproErrStereo(InputArrayOfArrays objec
return reProErr; return reProErr;
} }
void cv::omnidir::internal::checkFixed(Mat& G, int flags, int n)
{
int _flags = flags;
if(_flags >= omnidir::CALIB_FIX_CENTER)
{
G.at<double>(6*n+3) = 0;
G.at<double>(6*n+4) = 0;
_flags -= omnidir::CALIB_FIX_CENTER;
}
if(_flags >= omnidir::CALIB_FIX_GAMMA)
{
G.at<double>(6*n) = 0;
G.at<double>(6*n+1) = 0;
_flags -= omnidir::CALIB_FIX_GAMMA;
}
if(_flags >= omnidir::CALIB_FIX_XI)
{
G.at<double>(6*n + 5) = 0;
_flags -= omnidir::CALIB_FIX_XI;
}
if(_flags >= omnidir::CALIB_FIX_P2)
{
G.at<double>(6*n + 9) = 0;
_flags -= omnidir::CALIB_FIX_P2;
}
if(_flags >= omnidir::CALIB_FIX_P1)
{
G.at<double>(6*n + 8) = 0;
_flags -= omnidir::CALIB_FIX_P1;
}
if(_flags >= omnidir::CALIB_FIX_K2)
{
G.at<double>(6*n + 7) = 0;
_flags -= omnidir::CALIB_FIX_K2;
}
if(_flags >= omnidir::CALIB_FIX_K1)
{
G.at<double>(6*n + 6) = 0;
_flags -= omnidir::CALIB_FIX_K1;
}
if(_flags >= omnidir::CALIB_FIX_SKEW)
{
G.at<double>(6*n + 2) = 0;
}
}
// This function is from fisheye.cpp // This function is from fisheye.cpp
void cv::omnidir::internal::subMatrix(const Mat& src, Mat& dst, const std::vector<int>& cols, const std::vector<int>& rows) void cv::omnidir::internal::subMatrix(const Mat& src, Mat& dst, const std::vector<int>& cols, const std::vector<int>& rows)
{ {