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Commit4009bca

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Merge pull request#23025 from savuor:backport3_stddev_calib_fix
Backport of#22992 to 3.4### Pull Request Readiness ChecklistSee details athttps://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request- [x] I agree to contribute to the project under Apache 2 License.- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV- [x] The PR is proposed to the proper branch- [x] There is a reference to the original bug report and related work- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name.- [x] The feature is well documented and sample code can be built with the project CMake
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‎modules/calib3d/src/calibration.cpp‎

Lines changed: 14 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -1549,6 +1549,12 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
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}
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}
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1552+
Mat mask =cvarrToMat(solver.mask);
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int nparams_nz =countNonZero(mask);
1554+
if (nparams_nz >=2 * total)
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CV_Error_(CV_StsBadArg,
1556+
("There should be less vars to optimize (having %d) than the number of residuals (%d = 2 per point)", nparams_nz,2 * total));
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// 2. initialize extrinsic parameters
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for( i =0, pos =0; i < nimages; i++, pos += ni )
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{
@@ -1651,27 +1657,24 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
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{
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if( stdDevs )
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{
1654-
Mat mask =cvarrToMat(solver.mask);
1655-
int nparams_nz =countNonZero(mask);
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Mat JtJinv, JtJN;
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JtJN.create(nparams_nz, nparams_nz, CV_64F);
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subMatrix(cvarrToMat(_JtJ), JtJN, mask, mask);
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completeSymm(JtJN,false);
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cv::invert(JtJN, JtJinv, DECOMP_SVD);
1661-
//sigma2 is deviation of the noise
1662-
//see any papers about variance of the least squares estimator for
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//detailed description of the variance estimation methods
1664-
double sigma2 =norm(allErrors, NORM_L2SQR) / (total - nparams_nz);
1665+
// an explanation of that denominator correction can be found here:
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// R. Hartley, A. Zisserman, Multiple View Geometry in Computer Vision, 2004, section 5.1.3, page 134
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// see the discussion for more details: https://github.com/opencv/opencv/pull/22992
1668+
int nErrors =2 * total - nparams_nz;
1669+
double sigma2 =norm(allErrors, NORM_L2SQR) / nErrors;
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Mat stdDevsM =cvarrToMat(stdDevs);
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int j =0;
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for (int s =0; s < nparams; s++ )
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{
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stdDevsM.at<double>(s) = mask.data[s] ?std::sqrt(JtJinv.at<double>(j,j) * sigma2) :0.0;
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if( mask.data[s] )
1669-
{
1670-
stdDevsM.at<double>(s) =std::sqrt(JtJinv.at<double>(j,j) * sigma2);
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j++;
1672-
}
1673-
else
1674-
stdDevsM.at<double>(s) =0.;
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}
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}
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break;
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}

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