omnidir: fix wrong memory access in estimateUncertainties

Author: sovrasov

modules/ccalib/include/opencv2/ccalib/omnidir.hpp

@@ -278,8 +278,6 @@ namespace internal
     double computeMeanReproErrStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputArray K1, InputArray K2,
         InputArray D1, InputArray D2, double xi1, double xi2, InputArray om, InputArray T, InputArrayOfArrays omL, InputArrayOfArrays TL);
 
-    void checkFixed(Mat &G, int flags, int n);
-
     void subMatrix(const Mat& src, Mat& dst, const std::vector<int>& cols, const std::vector<int>& rows);
 
     void flags2idx(int flags, std::vector<int>& idx, int n);
@@ -309,4 +307,4 @@ namespace internal
 } // omnidir
 
 } //cv
-#endif
+#endif

modules/ccalib/src/omnidir.cpp

@@ -1785,8 +1785,6 @@ void cv::omnidir::internal::estimateUncertainties(InputArrayOfArrays objectPoint
 
     errors = 3 * s * _JTJ_inv.diag();
 
-    checkFixed(errors, flags, n);
-
     rms = 0;
     const Vec2d* ptr_ex = reprojError.ptr<Vec2d>();
     for (int i = 0; i < (int)reprojError.total(); i++)
@@ -1995,52 +1993,6 @@ double cv::omnidir::internal::computeMeanReproErrStereo(InputArrayOfArrays objec
     return reProErr;
 }
 
-void cv::omnidir::internal::checkFixed(Mat& G, int flags, int n)
-{
-    int _flags = flags;
-    if(_flags >= omnidir::CALIB_FIX_CENTER)
-    {
-        G.at<double>(6*n+3) = 0;
-        G.at<double>(6*n+4) = 0;
-        _flags -= omnidir::CALIB_FIX_CENTER;
-    }
-    if(_flags >= omnidir::CALIB_FIX_GAMMA)
-    {
-        G.at<double>(6*n) = 0;
-        G.at<double>(6*n+1) = 0;
-        _flags -= omnidir::CALIB_FIX_GAMMA;
-    }
-    if(_flags >= omnidir::CALIB_FIX_XI)
-    {
-        G.at<double>(6*n + 5) = 0;
-        _flags -= omnidir::CALIB_FIX_XI;
-    }
-    if(_flags >= omnidir::CALIB_FIX_P2)
-    {
-        G.at<double>(6*n + 9) = 0;
-        _flags -= omnidir::CALIB_FIX_P2;
-    }
-    if(_flags >= omnidir::CALIB_FIX_P1)
-    {
-        G.at<double>(6*n + 8) = 0;
-        _flags -= omnidir::CALIB_FIX_P1;
-    }
-    if(_flags >= omnidir::CALIB_FIX_K2)
-    {
-        G.at<double>(6*n + 7) = 0;
-        _flags -= omnidir::CALIB_FIX_K2;
-    }
-    if(_flags >= omnidir::CALIB_FIX_K1)
-    {
-        G.at<double>(6*n + 6) = 0;
-        _flags -= omnidir::CALIB_FIX_K1;
-    }
-    if(_flags >= omnidir::CALIB_FIX_SKEW)
-    {
-        G.at<double>(6*n + 2) = 0;
-    }
-}
-
 // This function is from fisheye.cpp
 void cv::omnidir::internal::subMatrix(const Mat& src, Mat& dst, const std::vector<int>& cols, const std::vector<int>& rows)
 {