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Commit ad8258f8 authored by Vadim Pisarevsky's avatar Vadim Pisarevsky
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avoid infinite loop in CvLevMarq (thanks to João Lima for the patch; ticket #1839)

parent 563fc2d1
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Showing with 6 additions and 2 deletions
modules/calib3d/src/calibration.cpp
View file @ ad8258f8
...@@ -166,7 +166,8 @@ bool CvLevMarq::update( const CvMat*& _param, CvMat*& matJ, CvMat*& _err ) ...@@ -166,7 +166,8 @@ bool CvLevMarq::update( const CvMat*& _param, CvMat*& matJ, CvMat*& _err )
errNorm = cvNorm( err, 0, CV_L2 ); errNorm = cvNorm( err, 0, CV_L2 );
if( errNorm > prevErrNorm ) if( errNorm > prevErrNorm )
{ {
lambdaLg10++; if( ++lambdaLg10 <= 16 )
{
step(); step();
_param = param; _param = param;
cvZero( err ); cvZero( err );
...@@ -174,6 +175,7 @@ bool CvLevMarq::update( const CvMat*& _param, CvMat*& matJ, CvMat*& _err ) ...@@ -174,6 +175,7 @@ bool CvLevMarq::update( const CvMat*& _param, CvMat*& matJ, CvMat*& _err )
state = CHECK_ERR; state = CHECK_ERR;
return true; return true;
} }
}
lambdaLg10 = MAX(lambdaLg10-1, -16); lambdaLg10 = MAX(lambdaLg10-1, -16);
if( ++iters >= criteria.max_iter || if( ++iters >= criteria.max_iter ||
...@@ -233,7 +235,8 @@ bool CvLevMarq::updateAlt( const CvMat*& _param, CvMat*& _JtJ, CvMat*& _JtErr, d ...@@ -233,7 +235,8 @@ bool CvLevMarq::updateAlt( const CvMat*& _param, CvMat*& _JtJ, CvMat*& _JtErr, d
assert( state == CHECK_ERR ); assert( state == CHECK_ERR );
if( errNorm > prevErrNorm ) if( errNorm > prevErrNorm )
{ {
lambdaLg10++; if( ++lambdaLg10 <= 16 )
{
step(); step();
_param = param; _param = param;
errNorm = 0; errNorm = 0;
...@@ -241,6 +244,7 @@ bool CvLevMarq::updateAlt( const CvMat*& _param, CvMat*& _JtJ, CvMat*& _JtErr, d ...@@ -241,6 +244,7 @@ bool CvLevMarq::updateAlt( const CvMat*& _param, CvMat*& _JtJ, CvMat*& _JtErr, d
state = CHECK_ERR; state = CHECK_ERR;
return true; return true;
} }
}
lambdaLg10 = MAX(lambdaLg10-1, -16); lambdaLg10 = MAX(lambdaLg10-1, -16);
if( ++iters >= criteria.max_iter || if( ++iters >= criteria.max_iter ||
......
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