i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-09 03:27:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed stereo calib diverging when recalibrating same data

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