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Add calibration error estimation into Aruco module

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pull/757/head
Vladislav Sovrasov 9 years ago
parent 3468ae572c
commit b8f08ccafd
4 changed files with 81 additions and 13 deletions
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  1. 26
      modules/aruco/include/opencv2/aruco.hpp
  2. 23
      modules/aruco/include/opencv2/aruco/charuco.hpp
  3. 23
      modules/aruco/src/aruco.cpp
  4. 22
      modules/aruco/src/charuco.cpp

26
modules/aruco/include/opencv2/aruco.hpp
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@ -474,7 +474,7 @@ void _drawPlanarBoardImpl(Board *board, Size outSize, OutputArray img,
* @brief Calibrate a camera using aruco markers
*
* @param corners vector of detected marker corners in all frames.
* The corners should have the same format returned by detectMarkers (@sa detectMarkers).
* The corners should have the same format returned by detectMarkers (see #detectMarkers).
* @param ids list of identifiers for each marker in corners
* @param counter number of markers in each frame so that corners and ids can be split
* @param board Marker Board layout
@ -491,20 +491,38 @@ void _drawPlanarBoardImpl(Board *board, Size outSize, OutputArray img,
* from the model coordinate space (in which object points are specified) to the world coordinate
* space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
* @param tvecs Output vector of translation vectors estimated for each pattern view.
* @param flags flags Different flags for the calibration process (@sa calibrateCamera)
* @param stdDeviationsIntrinsics Output vector of standard deviations estimated for intrinsic parameters.
* Order of deviations values:
* \f$(f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
* s_4, \tau_x, \tau_y)\f$ If one of parameters is not estimated, it's deviation is equals to zero.
* @param stdDeviationsExtrinsics Output vector of standard deviations estimated for extrinsic parameters.
* Order of deviations values: \f$(R_1, T_1, \dotsc , R_M, T_M)\f$ where M is number of pattern views,
* \f$R_i, T_i\f$ are concatenated 1x3 vectors.
* @param perViewErrors Output vector of average re-projection errors estimated for each pattern view.
* @param flags flags Different flags for the calibration process (see #calibrateCamera for details).
* @param criteria Termination criteria for the iterative optimization algorithm.
*
* This function calibrates a camera using an Aruco Board. The function receives a list of
* detected markers from several views of the Board. The process is similar to the chessboard
* calibration in calibrateCamera(). The function returns the final re-projection error.
*/
CV_EXPORTS_W double calibrateCameraAruco(
CV_EXPORTS_AS(calibrateCameraArucoExtended) double calibrateCameraAruco(
InputArrayOfArrays corners, InputArray ids, InputArray counter, Ptr<Board> &board,
Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs = noArray(), OutputArrayOfArrays tvecs = noArray(), int flags = 0,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
OutputArray stdDeviationsIntrinsics = noArray(), OutputArray stdDeviationsExtrinsics = noArray(),
OutputArray perViewErrors = noArray(), int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
/** @brief It's the same function as #calibrateCameraAruco but without calibration error estimation.
*/
CV_EXPORTS_W double calibrateCameraAruco(
InputArrayOfArrays corners, InputArray ids, InputArray counter, Ptr<Board> &board,
Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs = noArray(), OutputArrayOfArrays tvecs = noArray(), int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
//! @}
}

23
modules/aruco/include/opencv2/aruco/charuco.hpp
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@ -223,19 +223,36 @@ CV_EXPORTS_W void drawDetectedCornersCharuco(InputOutputArray image, InputArray
* from the model coordinate space (in which object points are specified) to the world coordinate
* space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
* @param tvecs Output vector of translation vectors estimated for each pattern view.
* @param flags flags Different flags for the calibration process (@sa calibrateCamera)
* @param stdDeviationsIntrinsics Output vector of standard deviations estimated for intrinsic parameters.
* Order of deviations values:
* \f$(f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
* s_4, \tau_x, \tau_y)\f$ If one of parameters is not estimated, it's deviation is equals to zero.
* @param stdDeviationsExtrinsics Output vector of standard deviations estimated for extrinsic parameters.
* Order of deviations values: \f$(R_1, T_1, \dotsc , R_M, T_M)\f$ where M is number of pattern views,
* \f$R_i, T_i\f$ are concatenated 1x3 vectors.
* @param perViewErrors Output vector of average re-projection errors estimated for each pattern view.
* @param flags flags Different flags for the calibration process (see #calibrateCamera for details).
* @param criteria Termination criteria for the iterative optimization algorithm.
*
* This function calibrates a camera using a set of corners of a Charuco Board. The function
* receives a list of detected corners and its identifiers from several views of the Board.
* The function returns the final re-projection error.
*/
CV_EXPORTS_W double calibrateCameraCharuco(
CV_EXPORTS_AS(calibrateCameraCharucoExtended) double calibrateCameraCharuco(
InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds, Ptr<CharucoBoard> &board,
Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs = noArray(), OutputArrayOfArrays tvecs = noArray(), int flags = 0,
OutputArrayOfArrays rvecs = noArray(), OutputArrayOfArrays tvecs = noArray(),
OutputArray stdDeviationsIntrinsics = noArray(), OutputArray stdDeviationsExtrinsics = noArray(),
OutputArray perViewErrors = noArray(), int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
/** @brief It's the same function as #calibrateCameraCharuco but without calibration error estimation.
*/
CV_EXPORTS_W double calibrateCameraCharuco(
InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds, Ptr<CharucoBoard> &board,
Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs = noArray(), OutputArrayOfArrays tvecs = noArray(), int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));

23
modules/aruco/src/aruco.cpp
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@ -1560,11 +1560,15 @@ void drawPlanarBoard(Ptr<Board> &_board, Size outSize, OutputArray _img, int mar
/**
*/
*/
double calibrateCameraAruco(InputArrayOfArrays _corners, InputArray _ids, InputArray _counter,
Ptr<Board> &board, Size imageSize, InputOutputArray _cameraMatrix,
InputOutputArray _distCoeffs, OutputArrayOfArrays _rvecs,
OutputArrayOfArrays _tvecs, int flags, TermCriteria criteria) {
OutputArrayOfArrays _tvecs,
OutputArray _stdDeviationsIntrinsics,
OutputArray _stdDeviationsExtrinsics,
OutputArray _perViewErrors,
int flags, TermCriteria criteria) {
// for each frame, get properly processed imagePoints and objectPoints for the calibrateCamera
// function
@ -1595,7 +1599,20 @@ double calibrateCameraAruco(InputArrayOfArrays _corners, InputArray _ids, InputA
}
return calibrateCamera(processedObjectPoints, processedImagePoints, imageSize, _cameraMatrix,
_distCoeffs, _rvecs, _tvecs, flags, criteria);
_distCoeffs, _rvecs, _tvecs, _stdDeviationsIntrinsics, _stdDeviationsExtrinsics,
_perViewErrors, flags, criteria);
}
/**
*/
double calibrateCameraAruco(InputArrayOfArrays _corners, InputArray _ids, InputArray _counter,
Ptr<Board> &board, Size imageSize, InputOutputArray _cameraMatrix,
InputOutputArray _distCoeffs, OutputArrayOfArrays _rvecs,
OutputArrayOfArrays _tvecs, int flags, TermCriteria criteria) {
return calibrateCameraAruco(_corners, _ids, _counter, board, imageSize, _cameraMatrix, _distCoeffs, _rvecs, _tvecs,
noArray(), noArray(), noArray(), flags, criteria);
}

22
modules/aruco/src/charuco.cpp
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@ -713,8 +713,11 @@ bool estimatePoseCharucoBoard(InputArray _charucoCorners, InputArray _charucoIds
double calibrateCameraCharuco(InputArrayOfArrays _charucoCorners, InputArrayOfArrays _charucoIds,
Ptr<CharucoBoard> &_board, Size imageSize,
InputOutputArray _cameraMatrix, InputOutputArray _distCoeffs,
OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs, int flags,
TermCriteria criteria) {
OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs,
OutputArray _stdDeviationsIntrinsics,
OutputArray _stdDeviationsExtrinsics,
OutputArray _perViewErrors,
int flags, TermCriteria criteria) {
CV_Assert(_charucoIds.total() > 0 && (_charucoIds.total() == _charucoCorners.total()));
@ -734,11 +737,24 @@ double calibrateCameraCharuco(InputArrayOfArrays _charucoCorners, InputArrayOfAr
}
return calibrateCamera(allObjPoints, _charucoCorners, imageSize, _cameraMatrix, _distCoeffs,
_rvecs, _tvecs, flags, criteria);
_rvecs, _tvecs, _stdDeviationsIntrinsics, _stdDeviationsExtrinsics,
_perViewErrors, flags, criteria);
}
/**
*/
double calibrateCameraCharuco(InputArrayOfArrays _charucoCorners, InputArrayOfArrays _charucoIds,
Ptr<CharucoBoard> &_board, Size imageSize,
InputOutputArray _cameraMatrix, InputOutputArray _distCoeffs,
OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs, int flags,
TermCriteria criteria) {
return calibrateCameraCharuco(_charucoCorners, _charucoIds, _board, imageSize, _cameraMatrix, _distCoeffs, _rvecs,
_tvecs, noArray(), noArray(), noArray(), flags, criteria);
}
/**
*/
void detectCharucoDiamond(InputArray _image, InputArrayOfArrays _markerCorners,

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