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Fixed stereo calib diverging when recalibrating same data

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matlabbe
2026-07-14 21:03:56 -07:00
parent 10428e0710
commit fc0af982e3
1 changed files with 6 additions and 6 deletions
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guilib/src/CalibrationDialog.cpp
+6 -6
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@@ -2027,8 +2027,8 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left,
{
int npt = (int)stereoImagePoints_[0][i].size();
cv::Mat imgpt0 = cv::Mat(stereoImagePoints_[0][i]);
cv::Mat imgpt1 = cv::Mat(stereoImagePoints_[1][i]);
std::vector<cv::Point2f> imgpt0 = stereoImagePoints_[0][i];
std::vector<cv::Point2f> imgpt1 = stereoImagePoints_[1][i];
cv::undistortPoints(imgpt0, imgpt0, left.K_raw(), left.D_raw(), R1, P1);
cv::undistortPoints(imgpt1, imgpt1, right.K_raw(), right.D_raw(), R2, P2);
computeCorrespondEpilines(imgpt0, 1, F, lines[0]);
@@ -2037,10 +2037,10 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left,
double sampleErr = 0.0;
for(int j = 0; j < npt; j++ )
{
double errij = fabs(stereoImagePoints_[0][i][j].x*lines[1][j][0] +
stereoImagePoints_[0][i][j].y*lines[1][j][1] + lines[1][j][2]) +
fabs(stereoImagePoints_[1][i][j].x*lines[0][j][0] +
stereoImagePoints_[1][i][j].y*lines[0][j][1] + lines[0][j][2]);
double errij = fabs(imgpt0[j].x*lines[1][j][0] +
imgpt0[j].y*lines[1][j][1] + lines[1][j][2]) +
fabs(imgpt1[j].x*lines[0][j][0] +
imgpt1[j].y*lines[0][j][1] + lines[0][j][2]);
sampleErr += errij;
}
UINFO("Stereo image %d: %f", stereoImageIds_[i], sampleErr/npt);