Merge pull request #6364 from sovrasov:interactive_calibration_app

apps/CMakeLists.txt

@@ -4,3 +4,4 @@ link_libraries(${OPENCV_LINKER_LIBS})
 add_subdirectory(traincascade)
 add_subdirectory(createsamples)
 add_subdirectory(annotation)
+add_subdirectory(interactive-calibration)

apps/interactive-calibration/CMakeLists.txt

+set(OPENCV_INTERACTIVECALIBRATION_DEPS opencv_core opencv_aruco opencv_highgui opencv_calib3d opencv_videoio)
+ocv_check_dependencies(${OPENCV_INTERACTIVECALIBRATION_DEPS})
+
+if(NOT OCV_DEPENDENCIES_FOUND)
+  return()
+endif()
+
+find_package(LAPACK)
+if(LAPACK_FOUND)
+  find_file(LAPACK_HEADER "lapacke.h")
+  if(LAPACK_HEADER)
+    add_definitions(-DUSE_LAPACK)
+    link_libraries(${LAPACK_LIBRARIES})
+  endif()
+endif()
+
+project(interactive-calibration)
+set(the_target opencv_interactive-calibration)
+
+ocv_target_include_directories(${the_target} PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}" "${OpenCV_SOURCE_DIR}/include/opencv")
+ocv_target_include_modules_recurse(${the_target} ${OPENCV_INTERACTIVECALIBRATION_DEPS})
+
+file(GLOB SRCS *.cpp)
+file(GLOB HDRS *.h*)
+
+set(interactive-calibration_files ${SRCS} ${HDRS})
+
+ocv_add_executable(${the_target} ${interactive-calibration_files})
+ocv_target_link_libraries(${the_target} ${OPENCV_INTERACTIVECALIBRATION_DEPS})
+
+set_target_properties(${the_target} PROPERTIES
+                      DEBUG_POSTFIX "${OPENCV_DEBUG_POSTFIX}"
+                      ARCHIVE_OUTPUT_DIRECTORY ${LIBRARY_OUTPUT_PATH}
+                      RUNTIME_OUTPUT_DIRECTORY ${EXECUTABLE_OUTPUT_PATH}
+                      INSTALL_NAME_DIR lib
+                    OUTPUT_NAME "opencv_interactive-calibration")
+
+if(ENABLE_SOLUTION_FOLDERS)
+  set_target_properties(${the_target} PROPERTIES FOLDER "applications")
+endif()
+
+if(INSTALL_CREATE_DISTRIB)
+  if(BUILD_SHARED_LIBS)
+    install(TARGETS ${the_target} RUNTIME DESTINATION ${OPENCV_BIN_INSTALL_PATH} CONFIGURATIONS Release COMPONENT dev)
+  endif()
+else()
+  install(TARGETS ${the_target} OPTIONAL RUNTIME DESTINATION ${OPENCV_BIN_INSTALL_PATH} COMPONENT dev)
+endif()

apps/interactive-calibration/calibCommon.hpp

+#ifndef CALIB_COMMON_HPP
+#define CALIB_COMMON_HPP
+
+#include <memory>
+#include <opencv2/core.hpp>
+#include <vector>
+#include <string>
+
+namespace calib
+{
+    #define OVERLAY_DELAY 1000
+    #define IMAGE_MAX_WIDTH 1280
+    #define IMAGE_MAX_HEIGHT 960
+
+    bool showOverlayMessage(const std::string& message);
+
+    enum InputType { Video, Pictures };
+    enum InputVideoSource { Camera, File };
+    enum TemplateType { AcirclesGrid, Chessboard, chAruco, DoubleAcirclesGrid };
+
+    static const std::string mainWindowName = "Calibration";
+    static const std::string gridWindowName = "Board locations";
+    static const std::string consoleHelp = "Hot keys:\nesc - exit application\n"
+                              "s - save current data to .xml file\n"
+                              "r - delete last frame\n"
+                              "u - enable/disable applying undistortion"
+                              "d - delete all frames\n"
+                              "v - switch visualization";
+
+    static const double sigmaMult = 1.96;
+
+    struct calibrationData
+    {
+        cv::Mat cameraMatrix;
+        cv::Mat distCoeffs;
+        cv::Mat stdDeviations;
+        cv::Mat perViewErrors;
+        std::vector<cv::Mat> rvecs;
+        std::vector<cv::Mat> tvecs;
+        double totalAvgErr;
+        cv::Size imageSize;
+
+        std::vector<std::vector<cv::Point2f> > imagePoints;
+        std::vector< std::vector<cv::Point3f> > objectPoints;
+
+        std::vector<cv::Mat> allCharucoCorners;
+        std::vector<cv::Mat> allCharucoIds;
+
+        cv::Mat undistMap1, undistMap2;
+
+        calibrationData()
+        {
+            imageSize = cv::Size(IMAGE_MAX_WIDTH, IMAGE_MAX_HEIGHT);
+        }
+    };
+
+    struct cameraParameters
+    {
+        cv::Mat cameraMatrix;
+        cv::Mat distCoeffs;
+        cv::Mat stdDeviations;
+        double avgError;
+
+        cameraParameters(){}
+        cameraParameters(cv::Mat& _cameraMatrix, cv::Mat& _distCoeffs, cv::Mat& _stdDeviations, double _avgError = 0) :
+            cameraMatrix(_cameraMatrix), distCoeffs(_distCoeffs), stdDeviations(_stdDeviations), avgError(_avgError)
+        {}
+    };
+
+    struct captureParameters
+    {
+        InputType captureMethod;
+        InputVideoSource source;
+        TemplateType board;
+        cv::Size boardSize;
+        int charucoDictName;
+        int calibrationStep;
+        float charucoSquareLenght, charucoMarkerSize;
+        float captureDelay;
+        float squareSize;
+        float templDst;
+        std::string videoFileName;
+        bool flipVertical;
+        int camID;
+        int fps;
+        cv::Size cameraResolution;
+        int maxFramesNum;
+        int minFramesNum;
+
+        captureParameters()
+        {
+            calibrationStep = 1;
+            captureDelay = 500.f;
+            maxFramesNum = 30;
+            minFramesNum = 10;
+            fps = 30;
+            cameraResolution = cv::Size(IMAGE_MAX_WIDTH, IMAGE_MAX_HEIGHT);
+        }
+    };
+
+    struct internalParameters
+    {
+        double solverEps;
+        int solverMaxIters;
+        bool fastSolving;
+        double filterAlpha;
+
+        internalParameters()
+        {
+            solverEps = 1e-7;
+            solverMaxIters = 30;
+            fastSolving = false;
+            filterAlpha = 0.1;
+        }
+    };
+}
+
+#endif

apps/interactive-calibration/calibController.hpp

+#ifndef CALIB_CONTROLLER_HPP
+#define CALIB_CONTROLLER_HPP
+
+#include "calibCommon.hpp"
+#include <stack>
+#include <string>
+#include <ostream>
+
+namespace calib {
+
+    class calibController
+    {
+    protected:
+        cv::Ptr<calibrationData> mCalibData;
+        int mCalibFlags;
+        unsigned mMinFramesNum;
+        bool mNeedTuning;
+        bool mConfIntervalsState;
+        bool mCoverageQualityState;
+
+        double estimateCoverageQuality();
+    public:
+        calibController();
+        calibController(cv::Ptr<calibrationData> data, int initialFlags, bool autoTuning,
+                        int minFramesNum);
+
+        void updateState();
+
+        bool getCommonCalibrationState() const;
+
+        bool getFramesNumberState() const;
+        bool getConfidenceIntrervalsState() const;
+        bool getRMSState() const;
+        bool getPointsCoverageState() const;
+        int getNewFlags() const;
+    };
+
+    class calibDataController
+    {
+    protected:
+        cv::Ptr<calibrationData> mCalibData;
+        std::stack<cameraParameters> mParamsStack;
+        std::string mParamsFileName;
+        unsigned mMaxFramesNum;
+        double mAlpha;
+
+        double estimateGridSubsetQuality(size_t excludedIndex);
+    public:
+        calibDataController(cv::Ptr<calibrationData> data, int maxFrames, double convParameter);
+        calibDataController();
+
+        void filterFrames();
+        void setParametersFileName(const std::string& name);
+        void deleteLastFrame();
+        void rememberCurrentParameters();
+        void deleteAllData();
+        bool saveCurrentCameraParameters() const;
+        void printParametersToConsole(std::ostream &output) const;
+        void updateUndistortMap();
+    };
+
+}
+
+#endif

apps/interactive-calibration/calibPipeline.cpp

+#include "calibPipeline.hpp"
+#include <opencv2/highgui.hpp>
+#include <stdexcept>
+
+using namespace calib;
+
+#define CAP_DELAY 10
+
+cv::Size CalibPipeline::getCameraResolution()
+{
+    mCapture.set(cv::CAP_PROP_FRAME_WIDTH, 10000);
+    mCapture.set(cv::CAP_PROP_FRAME_HEIGHT, 10000);
+    int w = (int)mCapture.get(cv::CAP_PROP_FRAME_WIDTH);
+    int h = (int)mCapture.get(cv::CAP_PROP_FRAME_HEIGHT);
+    return cv::Size(w,h);
+}
+
+CalibPipeline::CalibPipeline(captureParameters params) :
+    mCaptureParams(params)
+{
+
+}
+
+PipelineExitStatus CalibPipeline::start(std::vector<cv::Ptr<FrameProcessor> > processors)
+{
+    if(mCaptureParams.source == Camera && !mCapture.isOpened())
+    {
+        mCapture.open(mCaptureParams.camID);
+        cv::Size maxRes = getCameraResolution();
+        cv::Size neededRes = mCaptureParams.cameraResolution;
+
+        if(maxRes.width < neededRes.width) {
+            double aR = (double)maxRes.width / maxRes.height;
+            mCapture.set(cv::CAP_PROP_FRAME_WIDTH, neededRes.width);
+            mCapture.set(cv::CAP_PROP_FRAME_HEIGHT, neededRes.width/aR);
+        }
+        else if(maxRes.height < neededRes.height) {
+            double aR = (double)maxRes.width / maxRes.height;
+            mCapture.set(cv::CAP_PROP_FRAME_HEIGHT, neededRes.height);
+            mCapture.set(cv::CAP_PROP_FRAME_WIDTH, neededRes.height*aR);
+        }
+        else {
+            mCapture.set(cv::CAP_PROP_FRAME_HEIGHT, neededRes.height);
+            mCapture.set(cv::CAP_PROP_FRAME_WIDTH, neededRes.width);
+        }
+        mCapture.set(cv::CAP_PROP_AUTOFOCUS, 0);
+    }
+    else if (mCaptureParams.source == File && !mCapture.isOpened())
+        mCapture.open(mCaptureParams.videoFileName);
+    mImageSize = cv::Size((int)mCapture.get(cv::CAP_PROP_FRAME_WIDTH), (int)mCapture.get(cv::CAP_PROP_FRAME_HEIGHT));
+
+    if(!mCapture.isOpened())
+        throw std::runtime_error("Unable to open video source");
+
+    cv::Mat frame, processedFrame;
+    while(mCapture.grab()) {
+        mCapture.retrieve(frame);
+        if(mCaptureParams.flipVertical)
+            cv::flip(frame, frame, -1);
+
+        frame.copyTo(processedFrame);
+        for (std::vector<cv::Ptr<FrameProcessor> >::iterator it = processors.begin(); it != processors.end(); ++it)
+            processedFrame = (*it)->processFrame(processedFrame);
+        cv::imshow(mainWindowName, processedFrame);
+        int key = cv::waitKey(CAP_DELAY);
+
+        if(key == 27) // esc
+            return Finished;
+        else if (key == 114) // r
+            return DeleteLastFrame;
+        else if (key == 100) // d
+            return DeleteAllFrames;
+        else if (key == 115) // s
+            return SaveCurrentData;
+        else if (key == 117) // u
+            return SwitchUndistort;
+        else if (key == 118) // v
+            return SwitchVisualisation;
+
+        for (std::vector<cv::Ptr<FrameProcessor> >::iterator it = processors.begin(); it != processors.end(); ++it)
+            if((*it)->isProcessed())
+                return Calibrate;
+    }
+
+    return Finished;
+}
+
+cv::Size CalibPipeline::getImageSize() const
+{
+    return mImageSize;
+}

apps/interactive-calibration/calibPipeline.hpp

+#ifndef CALIB_PIPELINE_HPP
+#define CALIB_PIPELINE_HPP
+
+#include <vector>
+#include <opencv2/highgui.hpp>
+
+#include "calibCommon.hpp"
+#include "frameProcessor.hpp"
+
+namespace calib
+{
+
+enum PipelineExitStatus { Finished,
+                                DeleteLastFrame,
+                                Calibrate,
+                                DeleteAllFrames,
+                                SaveCurrentData,
+                                SwitchUndistort,
+                                SwitchVisualisation
+                              };
+
+class CalibPipeline
+{
+protected:
+    captureParameters mCaptureParams;
+    cv::Size mImageSize;
+    cv::VideoCapture mCapture;
+
+    cv::Size getCameraResolution();
+
+public:
+    CalibPipeline(captureParameters params);
+    PipelineExitStatus start(std::vector<cv::Ptr<FrameProcessor> > processors);
+    cv::Size getImageSize() const;
+};
+
+}
+
+#endif

apps/interactive-calibration/cvCalibrationFork.hpp

+#ifndef CV_CALIBRATION_FORK_HPP
+#define CV_CALIBRATION_FORK_HPP
+
+#include <opencv2/core.hpp>
+#include <opencv2/aruco/charuco.hpp>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/calib3d/calib3d_c.h>
+
+namespace cvfork
+{
+using namespace cv;
+
+#define CV_CALIB_NINTRINSIC 18
+#define CALIB_USE_QR (1 << 18)
+
+double calibrateCamera(InputArrayOfArrays objectPoints,
+                                     InputArrayOfArrays imagePoints, Size imageSize,
+                                     InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
+                                     OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray stdDeviations,
+                                     OutputArray perViewErrors, int flags = 0, TermCriteria criteria = TermCriteria(
+                                        TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON) );
+
+double cvCalibrateCamera2( const CvMat* object_points,
+                                const CvMat* image_points,
+                                const CvMat* point_counts,
+                                CvSize image_size,
+                                CvMat* camera_matrix,
+                                CvMat* distortion_coeffs,
+                                CvMat* rotation_vectors CV_DEFAULT(NULL),
+                                CvMat* translation_vectors CV_DEFAULT(NULL),
+                                CvMat* stdDeviations_vector CV_DEFAULT(NULL),
+                                CvMat* perViewErrors_vector CV_DEFAULT(NULL),
+                                int flags CV_DEFAULT(0),
+                                CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
+                                    CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
+
+double calibrateCameraCharuco(InputArrayOfArrays _charucoCorners, InputArrayOfArrays _charucoIds,
+                              Ptr<aruco::CharucoBoard> &_board, Size imageSize,
+                              InputOutputArray _cameraMatrix, InputOutputArray _distCoeffs,
+                              OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs, OutputArray _stdDeviations, OutputArray _perViewErrors,
+                              int flags = 0, TermCriteria criteria = TermCriteria(
+                                    TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON) );
+
+class CvLevMarqFork : public CvLevMarq
+{
+public:
+    CvLevMarqFork( int nparams, int nerrs, CvTermCriteria criteria=
+              cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
+              bool completeSymmFlag=false );
+    bool updateAlt( const CvMat*& _param, CvMat*& _JtJ, CvMat*& _JtErr, double*& _errNorm );
+    void step();
+    ~CvLevMarqFork();
+};
+}
+
+#endif

apps/interactive-calibration/defaultConfig.xml

+<?xml version="1.0"?>
+<opencv_storage>
+<charuco_dict>0</charuco_dict>
+<charuco_square_lenght>200</charuco_square_lenght>
+<charuco_marker_size>100</charuco_marker_size>
+<calibration_step>1</calibration_step>
+<max_frames_num>30</max_frames_num>
+<min_frames_num>10</min_frames_num>
+<solver_eps>1e-7</solver_eps>
+<solver_max_iters>30</solver_max_iters>
+<fast_solver>0</fast_solver>
+<frame_filter_conv_param>0.1</frame_filter_conv_param>
+<camera_resolution>800 600</camera_resolution>
+</opencv_storage>
\ No newline at end of file

apps/interactive-calibration/frameProcessor.hpp

+#ifndef FRAME_PROCESSOR_HPP
+#define FRAME_PROCESSOR_HPP
+
+#include <opencv2/core.hpp>
+#include <opencv2/aruco/charuco.hpp>
+#include <opencv2/calib3d.hpp>
+#include "calibCommon.hpp"
+#include "calibController.hpp"
+
+namespace calib
+{
+class FrameProcessor
+{
+protected:
+
+public:
+    virtual ~FrameProcessor();
+    virtual cv::Mat processFrame(const cv::Mat& frame) = 0;
+    virtual bool isProcessed() const = 0;
+    virtual void resetState() = 0;
+};
+
+class CalibProcessor : public FrameProcessor
+{
+protected:
+    cv::Ptr<calibrationData> mCalibData;
+    TemplateType mBoardType;
+    cv::Size mBoardSize;
+    std::vector<cv::Point2f> mTemplateLocations;
+    std::vector<cv::Point2f> mCurrentImagePoints;
+    cv::Mat mCurrentCharucoCorners;
+    cv::Mat mCurrentCharucoIds;
+
+    cv::Ptr<cv::SimpleBlobDetector> mBlobDetectorPtr;
+    cv::Ptr<cv::aruco::Dictionary> mArucoDictionary;
+    cv::Ptr<cv::aruco::CharucoBoard> mCharucoBoard;
+
+    int mNeededFramesNum;
+    unsigned mDelayBetweenCaptures;
+    int mCapuredFrames;
+    double mMaxTemplateOffset;
+    float mSquareSize;
+    float mTemplDist;
+
+    bool detectAndParseChessboard(const cv::Mat& frame);
+    bool detectAndParseChAruco(const cv::Mat& frame);
+    bool detectAndParseACircles(const cv::Mat& frame);
+    bool detectAndParseDualACircles(const cv::Mat& frame);
+    void saveFrameData();
+    void showCaptureMessage(const cv::Mat &frame, const std::string& message);
+    bool checkLastFrame();
+
+public:
+    CalibProcessor(cv::Ptr<calibrationData> data, captureParameters& capParams);
+    virtual cv::Mat processFrame(const cv::Mat& frame);
+    virtual bool isProcessed() const;
+    virtual void resetState();
+    ~CalibProcessor();
+};
+
+enum visualisationMode {Grid, Window};
+
+class ShowProcessor : public FrameProcessor
+{
+protected:
+    cv::Ptr<calibrationData> mCalibdata;
+    cv::Ptr<calibController> mController;
+    TemplateType mBoardType;
+    visualisationMode mVisMode;
+    bool mNeedUndistort;
+    double mGridViewScale;
+    double mTextSize;
+
+    void drawBoard(cv::Mat& img, cv::InputArray points);
+    void drawGridPoints(const cv::Mat& frame);
+public:
+    ShowProcessor(cv::Ptr<calibrationData> data, cv::Ptr<calibController> controller, TemplateType board);
+    virtual cv::Mat processFrame(const cv::Mat& frame);
+    virtual bool isProcessed() const;
+    virtual void resetState();
+
+    void setVisualizationMode(visualisationMode mode);
+    void switchVisualizationMode();
+    void clearBoardsView();
+    void updateBoardsView();
+
+    void switchUndistort();
+    void setUndistort(bool isEnabled);
+    ~ShowProcessor();
+};
+
+}
+
+
+#endif

apps/interactive-calibration/linalg.hpp

+#ifndef LINALG_HPP
+#define LINALG_HPP
+
+#include <opencv2/core.hpp>
+
+namespace cvfork {
+
+double invert( cv::InputArray _src, cv::OutputArray _dst, int method );
+bool solve(cv::InputArray _src, cv::InputArray _src2arg, cv::OutputArray _dst, int method );
+
+}
+
+#endif

apps/interactive-calibration/main.cpp

+#include <opencv2/core.hpp>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/aruco/charuco.hpp>
+#include <opencv2/cvconfig.h>
+#include <opencv2/highgui.hpp>
+#include <string>
+#include <vector>
+#include <stdexcept>
+#include <algorithm>
+#include <iostream>
+
+#include "calibCommon.hpp"
+#include "calibPipeline.hpp"
+#include "frameProcessor.hpp"
+#include "cvCalibrationFork.hpp"
+#include "calibController.hpp"
+#include "parametersController.hpp"
+#include "rotationConverters.hpp"
+
+using namespace calib;
+
+const std::string keys  =
+        "{v        |         | Input from video file }"
+        "{ci       | 0       | Default camera id }"
+        "{flip     | false   | Vertical flip of input frames }"
+        "{t        | circles | Template for calibration (circles, chessboard, dualCircles, chAruco) }"
+        "{sz       | 16.3    | Distance between two nearest centers of circles or squares on calibration board}"
+        "{dst      | 295     | Distance between white and black parts of daulCircles template}"
+        "{w        |         | Width of template (in corners or circles)}"
+        "{h        |         | Height of template (in corners or circles)}"
+        "{of       | cameraParameters.xml | Output file name}"
+        "{ft       | true    | Auto tuning of calibration flags}"
+        "{vis      | grid    | Captured boards visualisation (grid, window)}"
+        "{d        | 0.8     | Min delay between captures}"
+        "{pf       | defaultConfig.xml| Advanced application parameters}"
+        "{help     |         | Print help}";
+
+bool calib::showOverlayMessage(const std::string& message)
+{
+#ifdef HAVE_QT
+    cv::displayOverlay(mainWindowName, message, OVERLAY_DELAY);
+    return true;
+#else
+    std::cout << message << std::endl;
+    return false;
+#endif
+}
+
+static void deleteButton(int state, void* data)
+{
+    state++; //to avoid gcc warnings
+    (static_cast<cv::Ptr<calibDataController>*>(data))->get()->deleteLastFrame();
+    calib::showOverlayMessage("Last frame deleted");
+}
+
+static void deleteAllButton(int state, void* data)
+{
+    state++;
+    (static_cast<cv::Ptr<calibDataController>*>(data))->get()->deleteAllData();
+    calib::showOverlayMessage("All frames deleted");
+}
+
+static void saveCurrentParamsButton(int state, void* data)
+{
+    state++;
+    if((static_cast<cv::Ptr<calibDataController>*>(data))->get()->saveCurrentCameraParameters())
+        calib::showOverlayMessage("Calibration parameters saved");
+}
+
+#ifdef HAVE_QT
+static void switchVisualizationModeButton(int state, void* data)
+{
+    state++;
+    ShowProcessor* processor = static_cast<ShowProcessor*>(((cv::Ptr<FrameProcessor>*)data)->get());
+    processor->switchVisualizationMode();
+}
+
+static void undistortButton(int state, void* data)
+{
+    ShowProcessor* processor = static_cast<ShowProcessor*>(((cv::Ptr<FrameProcessor>*)data)->get());
+    processor->setUndistort(static_cast<bool>(state));
+    calib::showOverlayMessage(std::string("Undistort is ") +
+                       (static_cast<bool>(state) ? std::string("on") : std::string("off")));
+}
+#endif //HAVE_QT
+
+int main(int argc, char** argv)
+{
+    cv::CommandLineParser parser(argc, argv, keys);
+    if(parser.has("help")) {
+        parser.printMessage();
+        return 0;
+    }
+    std::cout << consoleHelp << std::endl;
+    parametersController paramsController;
+
+    if(!paramsController.loadFromParser(parser))
+        return 0;
+
+    captureParameters capParams = paramsController.getCaptureParameters();
+    internalParameters intParams = paramsController.getInternalParameters();
+
+    cv::TermCriteria solverTermCrit = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS,
+                                                       intParams.solverMaxIters, intParams.solverEps);
+    cv::Ptr<calibrationData> globalData(new calibrationData);
+    if(!parser.has("v")) globalData->imageSize = capParams.cameraResolution;
+
+    int calibrationFlags = 0;
+    if(intParams.fastSolving) calibrationFlags |= CALIB_USE_QR;
+    cv::Ptr<calibController> controller(new calibController(globalData, calibrationFlags,
+                                                         parser.get<bool>("ft"), capParams.minFramesNum));
+    cv::Ptr<calibDataController> dataController(new calibDataController(globalData, capParams.maxFramesNum,
+                                                                     intParams.filterAlpha));
+    dataController->setParametersFileName(parser.get<std::string>("of"));
+
+    cv::Ptr<FrameProcessor> capProcessor, showProcessor;
+    capProcessor = cv::Ptr<FrameProcessor>(new CalibProcessor(globalData, capParams));
+    showProcessor = cv::Ptr<FrameProcessor>(new ShowProcessor(globalData, controller, capParams.board));
+
+    if(parser.get<std::string>("vis").find("window") == 0) {
+        static_cast<ShowProcessor*>(showProcessor.get())->setVisualizationMode(Window);
+        cv::namedWindow(gridWindowName);
+        cv::moveWindow(gridWindowName, 1280, 500);
+    }
+
+    cv::Ptr<CalibPipeline> pipeline(new CalibPipeline(capParams));
+    std::vector<cv::Ptr<FrameProcessor> > processors;
+    processors.push_back(capProcessor);
+    processors.push_back(showProcessor);
+
+    cv::namedWindow(mainWindowName);
+    cv::moveWindow(mainWindowName, 10, 10);
+#ifdef HAVE_QT
+    cv::createButton("Delete last frame", deleteButton, &dataController, cv::QT_PUSH_BUTTON);
+    cv::createButton("Delete all frames", deleteAllButton, &dataController, cv::QT_PUSH_BUTTON);
+    cv::createButton("Undistort", undistortButton, &showProcessor, cv::QT_CHECKBOX, false);
+    cv::createButton("Save current parameters", saveCurrentParamsButton, &dataController, cv::QT_PUSH_BUTTON);
+    cv::createButton("Switch visualisation mode", switchVisualizationModeButton, &showProcessor, cv::QT_PUSH_BUTTON);
+#endif //HAVE_QT
+    try {
+        bool pipelineFinished = false;
+        while(!pipelineFinished)
+        {
+            PipelineExitStatus exitStatus = pipeline->start(processors);
+            if (exitStatus == Finished) {
+                if(controller->getCommonCalibrationState())
+                    saveCurrentParamsButton(0, &dataController);
+                pipelineFinished = true;
+                continue;
+            }
+            else if (exitStatus == Calibrate) {
+
+                dataController->rememberCurrentParameters();
+                globalData->imageSize = pipeline->getImageSize();
+                calibrationFlags = controller->getNewFlags();
+
+                if(capParams.board != chAruco) {
+                    globalData->totalAvgErr =
+                            cvfork::calibrateCamera(globalData->objectPoints, globalData->imagePoints,
+                                                    globalData->imageSize, globalData->cameraMatrix,
+                                                    globalData->distCoeffs, cv::noArray(), cv::noArray(),
+                                                    globalData->stdDeviations, globalData->perViewErrors,
+                                                    calibrationFlags, solverTermCrit);
+                }
+                else {
+                    cv::Ptr<cv::aruco::Dictionary> dictionary =
+                            cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(capParams.charucoDictName));
+                    cv::Ptr<cv::aruco::CharucoBoard> charucoboard =
+                                cv::aruco::CharucoBoard::create(capParams.boardSize.width, capParams.boardSize.height,
+                                                                capParams.charucoSquareLenght, capParams.charucoMarkerSize, dictionary);
+                    globalData->totalAvgErr =
+                            cvfork::calibrateCameraCharuco(globalData->allCharucoCorners, globalData->allCharucoIds,
+                                                           charucoboard, globalData->imageSize,
+                                                           globalData->cameraMatrix, globalData->distCoeffs,
+                                                           cv::noArray(), cv::noArray(), globalData->stdDeviations,
+                                                           globalData->perViewErrors, calibrationFlags, solverTermCrit);
+                }
+                dataController->updateUndistortMap();
+                dataController->printParametersToConsole(std::cout);
+                controller->updateState();
+                for(int j = 0; j < capParams.calibrationStep; j++)
+                    dataController->filterFrames();
+                static_cast<ShowProcessor*>(showProcessor.get())->updateBoardsView();
+            }
+            else if (exitStatus == DeleteLastFrame) {
+                deleteButton(0, &dataController);
+                static_cast<ShowProcessor*>(showProcessor.get())->updateBoardsView();
+            }
+            else if (exitStatus == DeleteAllFrames) {
+                deleteAllButton(0, &dataController);
+                static_cast<ShowProcessor*>(showProcessor.get())->updateBoardsView();
+            }
+            else if (exitStatus == SaveCurrentData) {
+                saveCurrentParamsButton(0, &dataController);
+            }
+            else if (exitStatus == SwitchUndistort)
+                static_cast<ShowProcessor*>(showProcessor.get())->switchUndistort();
+            else if (exitStatus == SwitchVisualisation)
+                static_cast<ShowProcessor*>(showProcessor.get())->switchVisualizationMode();
+
+            for (std::vector<cv::Ptr<FrameProcessor> >::iterator it = processors.begin(); it != processors.end(); ++it)
+                (*it)->resetState();
+        }
+    }
+    catch (std::runtime_error exp) {
+        std::cout << exp.what() << std::endl;
+    }
+
+    return 0;
+}

apps/interactive-calibration/parametersController.cpp

+#include "parametersController.hpp"
+#include <iostream>
+
+template <typename T>
+static bool readFromNode(cv::FileNode node, T& value)
+{
+    if(!node.isNone()) {
+        node >> value;
+        return true;
+    }
+    else
+        return false;
+}
+
+static bool checkAssertion(bool value, const std::string& msg)
+{
+    if(!value)
+        std::cerr << "Error: " << msg << std::endl;
+
+    return value;
+}
+
+bool calib::parametersController::loadFromFile(const std::string &inputFileName)
+{
+    cv::FileStorage reader;
+    reader.open(inputFileName, cv::FileStorage::READ);
+
+    if(!reader.isOpened()) {
+        std::cerr << "Warning: Unable to open " << inputFileName <<
+                     " Applicatioin stated with default advanced parameters" << std::endl;
+        return true;
+    }
+
+    readFromNode(reader["charuco_dict"], mCapParams.charucoDictName);
+    readFromNode(reader["charuco_square_lenght"], mCapParams.charucoSquareLenght);
+    readFromNode(reader["charuco_marker_size"], mCapParams.charucoMarkerSize);
+    readFromNode(reader["camera_resolution"], mCapParams.cameraResolution);
+    readFromNode(reader["calibration_step"], mCapParams.calibrationStep);
+    readFromNode(reader["max_frames_num"], mCapParams.maxFramesNum);
+    readFromNode(reader["min_frames_num"], mCapParams.minFramesNum);
+    readFromNode(reader["solver_eps"], mInternalParameters.solverEps);
+    readFromNode(reader["solver_max_iters"], mInternalParameters.solverMaxIters);
+    readFromNode(reader["fast_solver"], mInternalParameters.fastSolving);
+    readFromNode(reader["frame_filter_conv_param"], mInternalParameters.filterAlpha);
+
+    bool retValue =
+            checkAssertion(mCapParams.charucoDictName >= 0, "Dict name must be >= 0") &&
+            checkAssertion(mCapParams.charucoMarkerSize > 0, "Marker size must be positive") &&
+            checkAssertion(mCapParams.charucoSquareLenght > 0, "Square size must be positive") &&
+            checkAssertion(mCapParams.minFramesNum > 1, "Minimal number of frames for calibration < 1") &&
+            checkAssertion(mCapParams.calibrationStep > 0, "Calibration step must be positive") &&
+            checkAssertion(mCapParams.maxFramesNum > mCapParams.minFramesNum, "maxFramesNum < minFramesNum") &&
+            checkAssertion(mInternalParameters.solverEps > 0, "Solver precision must be positive") &&
+            checkAssertion(mInternalParameters.solverMaxIters > 0, "Max solver iterations number must be positive") &&
+            checkAssertion(mInternalParameters.filterAlpha >=0 && mInternalParameters.filterAlpha <=1 ,
+                           "Frame filter convolution parameter must be in [0,1] interval") &&
+            checkAssertion(mCapParams.cameraResolution.width > 0 && mCapParams.cameraResolution.height > 0,
+                           "Wrong camera resolution values");
+
+    reader.release();
+    return retValue;
+}
+
+calib::parametersController::parametersController()
+{
+}
+
+calib::captureParameters calib::parametersController::getCaptureParameters() const
+{
+    return mCapParams;
+}
+
+calib::internalParameters calib::parametersController::getInternalParameters() const
+{
+    return mInternalParameters;
+}
+
+bool calib::parametersController::loadFromParser(cv::CommandLineParser &parser)
+{
+    mCapParams.flipVertical = parser.get<bool>("flip");
+    mCapParams.captureDelay = parser.get<float>("d");
+    mCapParams.squareSize = parser.get<float>("sz");
+    mCapParams.templDst = parser.get<float>("dst");
+
+    if(!checkAssertion(mCapParams.squareSize > 0, "Distance between corners or circles must be positive"))
+        return false;
+    if(!checkAssertion(mCapParams.templDst > 0, "Distance betwen parts of dual template must be positive"))
+        return false;
+
+    if (parser.has("v")) {
+        mCapParams.source = File;
+        mCapParams.videoFileName = parser.get<std::string>("v");
+    }
+    else {
+        mCapParams.source = Camera;
+        mCapParams.camID = parser.get<int>("ci");
+    }
+
+    std::string templateType = parser.get<std::string>("t");
+
+    if(templateType.find("circles", 0) == 0) {
+        mCapParams.board = AcirclesGrid;
+        mCapParams.boardSize = cv::Size(4, 11);
+    }
+    else if(templateType.find("chessboard", 0) == 0) {
+        mCapParams.board = Chessboard;
+        mCapParams.boardSize = cv::Size(7, 7);
+    }
+    else if(templateType.find("dualcircles", 0) == 0) {
+        mCapParams.board = DoubleAcirclesGrid;
+        mCapParams.boardSize = cv::Size(4, 11);
+    }
+    else if(templateType.find("charuco", 0) == 0) {
+        mCapParams.board = chAruco;
+        mCapParams.boardSize = cv::Size(6, 8);
+        mCapParams.charucoDictName = 0;
+        mCapParams.charucoSquareLenght = 200;
+        mCapParams.charucoMarkerSize = 100;
+    }
+    else {
+        std::cerr << "Wrong template name\n";
+        return false;
+    }
+
+    if(parser.has("w") && parser.has("h")) {
+        mCapParams.boardSize = cv::Size(parser.get<int>("w"), parser.get<int>("h"));
+        if(!checkAssertion(mCapParams.boardSize.width > 0 || mCapParams.boardSize.height > 0,
+                           "Board size must be positive"))
+            return false;
+    }
+
+    if(!checkAssertion(parser.get<std::string>("of").find(".xml") > 0,
+                       "Wrong output file name: correct format is [name].xml"))
+        return false;
+
+    loadFromFile(parser.get<std::string>("pf"));
+    return true;
+}

apps/interactive-calibration/parametersController.hpp

+#ifndef PARAMETERS_CONTROLLER_HPP
+#define PARAMETERS_CONTROLLER_HPP
+
+#include <string>
+#include <opencv2/core.hpp>
+#include "calibCommon.hpp"
+
+namespace calib {
+
+class parametersController
+{
+protected:
+    captureParameters mCapParams;
+    internalParameters mInternalParameters;
+
+    bool loadFromFile(const std::string& inputFileName);
+public:
+    parametersController();
+    parametersController(cv::Ptr<captureParameters> params);
+
+    captureParameters getCaptureParameters() const;
+    internalParameters getInternalParameters() const;
+
+    bool loadFromParser(cv::CommandLineParser& parser);
+};
+
+}
+
+#endif

apps/interactive-calibration/rotationConverters.cpp

+#include "rotationConverters.hpp"
+
+#include <cmath>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/core.hpp>
+
+#define CALIB_PI 3.14159265358979323846
+#define CALIB_PI_2 1.57079632679489661923
+
+void calib::Euler(const cv::Mat& src, cv::Mat& dst, int argType)
+{
+    if((src.rows == 3) && (src.cols == 3))
+    {
+        //convert rotaion matrix to 3 angles (pitch, yaw, roll)
+        dst = cv::Mat(3, 1, CV_64F);
+        double pitch, yaw, roll;
+
+        if(src.at<double>(0,2) < -0.998)
+        {
+            pitch = -atan2(src.at<double>(1,0), src.at<double>(1,1));
+            yaw = -CALIB_PI_2;
+            roll = 0.;
+        }
+        else if(src.at<double>(0,2) > 0.998)
+        {
+            pitch = atan2(src.at<double>(1,0), src.at<double>(1,1));
+            yaw = CALIB_PI_2;
+            roll = 0.;
+        }
+        else
+        {
+            pitch = atan2(-src.at<double>(1,2), src.at<double>(2,2));
+            yaw = asin(src.at<double>(0,2));
+            roll = atan2(-src.at<double>(0,1), src.at<double>(0,0));
+        }
+
+        if(argType == CALIB_DEGREES)
+        {
+            pitch *= 180./CALIB_PI;
+            yaw *= 180./CALIB_PI;
+            roll *= 180./CALIB_PI;
+        }
+        else if(argType != CALIB_RADIANS)
+            CV_Error(cv::Error::StsBadFlag, "Invalid argument type");
+
+        dst.at<double>(0,0) = pitch;
+        dst.at<double>(1,0) = yaw;
+        dst.at<double>(2,0) = roll;
+    }
+    else if( (src.cols == 1 && src.rows == 3) ||
+             (src.cols == 3 && src.rows == 1 ) )
+    {
+        //convert vector which contains 3 angles (pitch, yaw, roll) to rotaion matrix
+        double pitch, yaw, roll;
+        if(src.cols == 1 && src.rows == 3)
+        {
+            pitch = src.at<double>(0,0);
+            yaw = src.at<double>(1,0);
+            roll = src.at<double>(2,0);
+        }
+        else{
+            pitch = src.at<double>(0,0);
+            yaw = src.at<double>(0,1);
+            roll = src.at<double>(0,2);
+        }
+
+        if(argType == CALIB_DEGREES)
+        {
+            pitch *= CALIB_PI / 180.;
+            yaw *= CALIB_PI / 180.;
+            roll *= CALIB_PI / 180.;
+        }
+        else if(argType != CALIB_RADIANS)
+            CV_Error(cv::Error::StsBadFlag, "Invalid argument type");
+
+        dst = cv::Mat(3, 3, CV_64F);
+        cv::Mat M(3, 3, CV_64F);
+        cv::Mat i = cv::Mat::eye(3, 3, CV_64F);
+        i.copyTo(dst);
+        i.copyTo(M);
+
+        double* pR = dst.ptr<double>();
+        pR[4] = cos(pitch);
+        pR[7] = sin(pitch);
+        pR[8] = pR[4];
+        pR[5] = -pR[7];
+
+        double* pM = M.ptr<double>();
+        pM[0] = cos(yaw);
+        pM[2] = sin(yaw);
+        pM[8] = pM[0];
+        pM[6] = -pM[2];
+
+        dst *= M;
+        i.copyTo(M);
+        pM[0] = cos(roll);
+        pM[3] = sin(roll);
+        pM[4] = pM[0];
+        pM[1] = -pM[3];
+
+        dst *= M;
+    }
+    else
+        CV_Error(cv::Error::StsBadFlag, "Input matrix must be 1x3, 3x1 or 3x3" );
+}
+
+void calib::RodriguesToEuler(const cv::Mat& src, cv::Mat& dst, int argType)
+{
+    CV_Assert((src.cols == 1 && src.rows == 3) || (src.cols == 3 && src.rows == 1));
+    cv::Mat R;
+    cv::Rodrigues(src, R);
+    Euler(R, dst, argType);
+}
+
+void calib::EulerToRodrigues(const cv::Mat& src, cv::Mat& dst, int argType)
+{
+    CV_Assert((src.cols == 1 && src.rows == 3) || (src.cols == 3 && src.rows == 1));
+    cv::Mat R;
+    Euler(src, R, argType);
+    cv::Rodrigues(R, dst);
+}

apps/interactive-calibration/rotationConverters.hpp

+#ifndef RAOTATION_CONVERTERS_HPP
+#define RAOTATION_CONVERTERS_HPP
+
+#include <opencv2/core.hpp>
+
+namespace calib
+{
+#define CALIB_RADIANS 0
+#define CALIB_DEGREES 1
+
+    void Euler(const cv::Mat& src, cv::Mat& dst, int argType = CALIB_RADIANS);
+    void RodriguesToEuler(const cv::Mat& src, cv::Mat& dst, int argType = CALIB_RADIANS);
+    void EulerToRodrigues(const cv::Mat& src, cv::Mat& dst, int argType = CALIB_RADIANS);
+
+}
+#endif

doc/tutorials/calib3d/interactive_calibration/interactive_calibration.markdown

+Interactive camera calibration application {#tutorial_interactive_calibration}
+==============================
+
+According to classical calibration technique user must collect all data first and when run @ref cv::calibrateCamera function
+to obtain camera parameters. If average re-projection error is huge or if estimated parameters seems to be wrong, process of
+selection or collecting data and starting of @ref cv::calibrateCamera repeats.
+
+Interactive calibration process assumes that after each new data portion user can see results and errors estimation, also
+he can delete last data portion and finally, when dataset for calibration is big enough starts process of auto data selection.
+
+Main application features
+------
+
+The sample application will:
+
+-   Determine the distortion matrix and confidence interval for each element
+-   Determine the camera matrix and confidence interval for each element
+-   Take input from camera or video file
+-   Read configuration from XML file
+-   Save the results into XML file
+-   Calculate re-projection error
+-   Reject patterns views on sharp angles to prevent appear of ill-conditioned jacobian blocks
+-   Auto switch calibration flags (fix aspect ratio and elements of distortion matrix if needed)
+-   Auto detect when calibration is done by using several criteria
+-   Auto capture of static patterns (user doesn't need press any keys to capture frame, just don't move pattern for a second)
+
+Supported patterns:
+
+-   Black-white chessboard
+-   Asymmetrical circle pattern
+-   Dual asymmetrical circle pattern
+-   chAruco (chessboard with Aruco markers)
+
+Description of parameters
+------
+
+Application has two groups of parameters: primary (passed through command line) and advances (passed through XML file).
+
+### Primary parameters:
+
+All of this parameters are passed to application through a command line.
+
+-[parameter]=[default value]: description
+
+-  -v=[filename]: get video from filename, default input -- camera with id=0
+-  -ci=[0]: get video from camera with specified id
+-  -flip=[false]: vertical flip of input frames
+-  -t=[circles]: pattern for calibration (circles, chessboard, dualCircles, chAruco)
+-  -sz=[16.3]: distance between two nearest centers of circles or squares on calibration board
+-  -dst=[295] distance between white and black parts of daulCircles pattern
+-  -w=[width]: width of pattern (in corners or circles)
+-  -h=[height]: height of pattern (in corners or circles)
+-  -of=[camParams.xml]: output file name
+-  -ft=[true]: auto tuning of calibration flags
+-  -vis=[grid]: captured boards visualization (grid, window)
+-  -d=[0.8]: delay between captures in seconds
+-  -pf=[defaultConfig.xml]: advanced application parameters file
+
+### Advanced parameters:
+
+By default values of advanced parameters are stored in defaultConfig.xml
+
+@code{.xml}
+<?xml version="1.0"?>
+<opencv_storage>
+<charuco_dict>0</charuco_dict>
+<charuco_square_lenght>200</charuco_square_lenght>
+<charuco_marker_size>100</charuco_marker_size>
+<calibration_step>1</calibration_step>
+<max_frames_num>30</max_frames_num>
+<min_frames_num>10</min_frames_num>
+<solver_eps>1e-7</solver_eps>
+<solver_max_iters>30</solver_max_iters>
+<fast_solver>0</fast_solver>
+<frame_filter_conv_param>0.1</frame_filter_conv_param>
+<camera_resolution>1280 720</camera_resolution>
+</opencv_storage>
+@endcode
+
+-  *charuco_dict*: name of special dictionary, which has been used for generation of chAruco pattern
+-  *charuco_square_lenght*: size of square on chAruco board (in pixels)
+-  *charuco_marker_size*: size of Aruco markers on chAruco board (in pixels)
+-  *calibration_step*: interval in frames between launches of @ref cv::calibrateCamera
+-  *max_frames_num*: if number of frames for calibration is greater then this value frames filter starts working.
+After filtration size of calibration dataset is equals to *max_frames_num*
+-  *min_frames_num*: if number of frames is greater then this value turns on auto flags tuning, undistorted view and quality evaluation
+-  *solver_eps*: precision of Levenberg-Marquardt solver in @ref cv::calibrateCamera
+-  *solver_max_iters*: iterations limit of solver
+-  *fast_solver*: if this value is nonzero and Lapack is found QR decomposition is used instead of SVD in solver.
+QR faster than SVD, but potentially less precise
+-  *frame_filter_conv_param*: parameter which used in linear convolution of bicriterial frames filter
+-  *camera_resolution*: resolution of camera which is used for calibration
+
+**Note:** *charuco_dict*, *charuco_square_lenght* and *charuco_marker_size* are used for chAruco pattern generation
+(see Aruco module description for details: [Aruco tutorials](https://github.com/Itseez/opencv_contrib/tree/master/modules/aruco/tutorials))
+
+Default chAruco pattern:
+
+![](images/charuco_board.png)
+
+Dual circles pattern
+------
+
+To make this pattern you need standard OpenCV circles pattern and binary inverted one.
+Place two patterns on one plane in order when all horizontal lines of circles in one pattern are
+ continuations of similar lines in another.
+Measure distance between patterns as shown at picture below pass it as **dst** command line parameter. Also measure distance between centers of nearest circles and pass
+this value as **sz** command line parameter.
+
+![](images/dualCircles.jpg)
+
+This pattern is very sensitive to quality of production and measurements.
+
+
+Data filtration
+------
+When size of calibration dataset is greater then *max_frames_num* starts working
+data filter. It tries to remove "bad" frames from dataset. Filter removes the frame
+ on which \f$loss\_function\f$ takes maximum.
+
+\f[loss\_function(i)=\alpha RMS(i)+(1-\alpha)reducedGridQuality(i)\f]
+
+**RMS** is an average re-projection error calculated for frame *i*, **reducedGridQuality**
+ is scene coverage quality evaluation without frame *i*. \f$\alpha\f$ is equals to
+ **frame_filter_conv_param**.
+
+
+Calibration process
+------
+
+To start calibration just run application. Place pattern ahead the camera and fixate pattern in some pose.
+After that wait for capturing (will be shown message like "Frame #i captured").
+Current focal distance and re-projection error will be shown at the main screen. Move pattern to the next position  and repeat procedure. Try to cover image plane
+uniformly and don't show pattern on sharp angles to the image plane.
+
+![](images/screen_charuco.jpg)
+
+If calibration seems to be successful (confidence intervals and average re-projection
+ error are small, frame coverage quality and number of pattern views are big enough)
+  application will show a message like on screen below.
+
+
+![](images/screen_finish.jpg)
+
+Hot keys:
+
+- Esc -- exit application
+- s -- save current data to XML file
+- r -- delete last frame
+- d -- delete all frames
+- u -- enable/disable applying of undistortion
+- v -- switch visualization mode
+
+Results
+------
+
+As result you will get camera parameters and confidence intervals for them.
+
+Example of output XML file:
+
+@code{.xml}
+<?xml version="1.0"?>
+<opencv_storage>
+<calibrationDate>"Thu 07 Apr 2016 04:23:03 PM MSK"</calibrationDate>
+<framesCount>21</framesCount>
+<cameraResolution>
+  1280 720</cameraResolution>
+<cameraMatrix type_id="opencv-matrix">
+  <rows>3</rows>
+  <cols>3</cols>
+  <dt>d</dt>
+  <data>
+    1.2519588293098975e+03 0. 6.6684948780852471e+02 0.
+    1.2519588293098975e+03 3.6298123112613683e+02 0. 0. 1.</data></cameraMatrix>
+<cameraMatrix_std_dev type_id="opencv-matrix">
+  <rows>4</rows>
+  <cols>1</cols>
+  <dt>d</dt>
+  <data>
+    0. 1.2887048808572649e+01 2.8536856683866230e+00
+    2.8341737483430314e+00</data></cameraMatrix_std_dev>
+<dist_coeffs type_id="opencv-matrix">
+  <rows>1</rows>
+  <cols>5</cols>
+  <dt>d</dt>
+  <data>
+    1.3569117181595716e-01 -8.2513063822554633e-01 0. 0.
+    1.6412101575010554e+00</data></dist_coeffs>
+<dist_coeffs_std_dev type_id="opencv-matrix">
+  <rows>5</rows>
+  <cols>1</cols>
+  <dt>d</dt>
+  <data>
+    1.5570675523402111e-02 8.7229075437543435e-02 0. 0.
+    1.8382427901856876e-01</data></dist_coeffs_std_dev>
+<avg_reprojection_error>4.2691743074130178e-01</avg_reprojection_error>
+</opencv_storage>
+@endcode

doc/tutorials/calib3d/table_of_content_calib3d.markdown

@@ -30,3 +30,14 @@ how to find out from the 2D images information about the 3D world.
 
     Real time pose estimation of a textured object using ORB features, FlannBased matcher, PnP
     approach plus Ransac and Linear Kalman Filter to reject possible bad poses.
+
+-   @subpage tutorial_interactive_calibration
+
+    *Compatibility:* \> OpenCV 3.1
+
+    *Author:* Vladislav Sovrasov
+
+    Camera calibration by using either the chessboard, chAruco, asymmetrical circle or dual asymmetrical circle
+    pattern. Calibration process is continious, so you can see results after each new pattern shot.
+    As an output you get average reprojection error, intrinsic camera parameters, distortion coefficients and
+     confidence intervals for all of evaluated variables.