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According to the [MVG], various least squares method explanations (like this) and the standard camera calibration code in OpenCV (here), the parameters uncertainty should be calculated with the "minus k" denominator correction: $$\sigma^2 = \frac{1}{n - k} \sum^n_{i=1} \left( x_i - \bar{x} \right)^2$$
where k is a number of non-fixed model parameters.
The incorrect calculation appears in two places in omnidir calibration:
cv::omnidir::internal::estimateUncertainties(): here
cv::omnidir::internal::estimateUncertaintiesStereo(): here
MVG: R. Hartley, A. Zisserman, Multiple View Geometry in Computer Vision, 2004, section 5.1.3, page 134
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I report the issue, it's not a question
I checked the problem with documentation, FAQ, open issues,
forum.opencv.org, Stack Overflow, etc and have not found any solution
I updated to the latest OpenCV version and the issue is still there
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Related to #19803@main
According to the [MVG], various least squares method explanations (like this) and the standard camera calibration code in OpenCV (here), the parameters uncertainty should be calculated with the "minus k" denominator correction:
$$\sigma^2 = \frac{1}{n - k} \sum^n_{i=1} \left( x_i - \bar{x} \right)^2$$
where k is a number of non-fixed model parameters.
The incorrect calculation appears in two places in omnidir calibration:
cv::omnidir::internal::estimateUncertainties()
: herecv::omnidir::internal::estimateUncertaintiesStereo()
: hereMVG: R. Hartley, A. Zisserman, Multiple View Geometry in Computer Vision, 2004, section 5.1.3, page 134
Issue submission checklist
forum.opencv.org, Stack Overflow, etc and have not found any solution
The text was updated successfully, but these errors were encountered: