System Information

All systems, OpenCV 4.8.0

Detailed description

Due to #23025, calibrateCamera throws if the system is underconstrained. Is that an intended behavior?

Before that pull request, the solver finds one solution in underconstrained systems, even though there is an infinite set of solutions.

I am ok with the decision, I am just wondering if that is intended. If it is intended, the documentation should probably be updated.

BTW,

if ((stdDevs && nparams_nz >= 2 * total) || (nparams_nz > 2 * total))

Steps to reproduce

None

Issue submission checklist

• 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
• There is reproducer code and related data files (videos, images, onnx, etc)