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Merge pull request #3430 from savuor/stddev_calib_omnidir

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Omnidir calibration: uncertainty fixed
This commit is contained in:
Alexander Smorkalov
2023-01-26 17:32:27 +03:00
committed by GitHub
parent b01f2f90a9 6b15ef3f62
commit f18f127ba9
1 changed files with 8 additions and 4 deletions
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12
modules/ccalib/src/omnidir.cpp
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@@ -1782,13 +1782,15 @@ void cv::omnidir::internal::estimateUncertainties(InputArrayOfArrays objectPoint
Mat sigma_x;
meanStdDev(reprojError.reshape(1,1), noArray(), sigma_x);
sigma_x *= sqrt(2.0*(double)reprojError.total()/(2.0*(double)reprojError.total() - 1.0));
double s = sigma_x.at<double>(0);
Mat _JTJ_inv, _JTE;
computeJacobian(objectPoints, imagePoints, parameters, _JTJ_inv, _JTE, flags, 0.0);
sqrt(_JTJ_inv, _JTJ_inv);
int nParams = _JTJ_inv.rows;
sigma_x *= sqrt(2.0*(double)reprojError.total()/(2.0*(double)reprojError.total() - nParams));
double s = sigma_x.at<double>(0);
errors = 3 * s * _JTJ_inv.diag();
rms = 0;
@@ -1868,13 +1870,15 @@ void cv::omnidir::internal::estimateUncertaintiesStereo(InputArrayOfArrays objec
Mat sigma_x;
meanStdDev(reprojErrorAll.reshape(1,1), noArray(), sigma_x);
sigma_x *= sqrt(2.0*(double)reprojErrorAll.total()/(2.0*(double)reprojErrorAll.total() - 1.0));
double s = sigma_x.at<double>(0);
Mat _JTJ_inv, _JTE;
computeJacobianStereo(objectPoints, imagePoints1, imagePoints2, _parameters, _JTJ_inv, _JTE, flags, 0.0);
cv::sqrt(_JTJ_inv, _JTJ_inv);
int nParams = _JTJ_inv.rows;
sigma_x *= sqrt(2.0*(double)reprojErrorAll.total()/(2.0*(double)reprojErrorAll.total() - nParams));
double s = sigma_x.at<double>(0);
errors = 3 * s * _JTJ_inv.diag();
rms = 0;