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Relative error #189

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Relative error #189

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108c2a3
this should help some difficult calibrations
alexlib Oct 15, 2019
36c1e75
this option for calibration when the additional parameters are diffic…
alexlib Oct 15, 2019
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19 changes: 15 additions & 4 deletions liboptv/src/orientation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
#include <string.h>
#include <math.h>

#define NUM_ITER 80
#define NUM_ITER 2000
#define POS_INF 1E20
#define CONVERGENCE 0.00001

Expand Down Expand Up @@ -254,6 +254,7 @@ double* orient (Calibration* cal_in, control_par *cpar, int nfix, vec3d fix[],
int i,j,n, itnum, stopflag, n_obs=0, maxsize;

double ident[IDT], XPX[NPAR][NPAR], XPy[NPAR], beta[NPAR], omega=0;
double old_beta[NPAR],diff;
double xp, yp, xpd, ypd, xc, yc, r, qq, p, sumP;

int numbers;
Expand Down Expand Up @@ -519,7 +520,12 @@ double* orient (Calibration* cal_in, control_par *cpar, int nfix, vec3d fix[],

stopflag = 1;
for (i = 0; i < numbers; i++) {
if (fabs (beta[i]) > CONVERGENCE) stopflag = 0;
diff = fabs(old_beta[i]-beta[i]);
if ( (fabs (beta[i]) > CONVERGENCE) & (diff/beta[i] > 0.01) & (fabs(diff/beta[i] - 2.0) > 0.01) ) {
printf("failing beta[%d] = %f, diff/beta: %f\n",i,beta[i],diff/beta[i]);
stopflag = 0;
}
old_beta[i] = beta[i];
}

if ( ! flags->ccflag) beta[6] = 0.0;
Expand Down Expand Up @@ -581,11 +587,13 @@ double* orient (Calibration* cal_in, control_par *cpar, int nfix, vec3d fix[],
free(Xh);

if (stopflag){
printf("updated calibration\n");
rotation_matrix(&(cal->ext_par));
memcpy(cal_in, cal, sizeof (Calibration));
return resi;
}
else {
printf("failed calibration\n");
free(resi);
return NULL;
}
Expand Down Expand Up @@ -677,8 +685,11 @@ int raw_orient (Calibration* cal, control_par *cpar, int nfix, vec3d fix[], targ

stopflag = 1;
for (i = 0; i < 6; i++) {
if (fabs (beta[i]) > 0.1 )
stopflag = 0;
if (fabs (beta[i]) > 0.1 ){
// printf("raw beta[%d]=%f failed\n",i,beta[i]);
stopflag = 0;
}

}

cal->ext_par.x0 += beta[0];
Expand Down
3 changes: 2 additions & 1 deletion py_bind/optv/orientation.pyx
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Expand Up @@ -283,8 +283,9 @@ def full_calibration(Calibration cal,
orip[0].p2flag = (1 if 'p2' in flags else 0)
orip[0].scxflag = (1 if 'scale' in flags else 0)
orip[0].sheflag = (1 if 'shear' in flags else 0)
orip[0].interfflag = 0 # This also solves for the glass, I'm skipping it.
orip[0].interfflag = (1 if 'shear' in flags else 0) # 0 # This also solves for the glass, I'm skipping it.


err_est = np.empty((NPAR + 1) * sizeof(double))
residuals = orient(cal._calibration, cparam._control_par, len(ref_pts),
ref_coord, img_pts._tarr, orip, <double *>err_est.data)
Expand Down