Added termination criteria as a calibrateCamera() parameter

modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst

@@ -111,11 +111,11 @@ calibrateCamera
 ---------------
 Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.
 
-.. ocv:function:: double calibrateCamera( InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0 )
+.. ocv:function:: double calibrateCamera( InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0, TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
 
-.. ocv:pyfunction:: cv2.calibrateCamera(objectPoints, imagePoints, imageSize[, cameraMatrix[, distCoeffs[, rvecs[, tvecs[, flags]]]]]) -> retval, cameraMatrix, distCoeffs, rvecs, tvecs
+.. ocv:pyfunction:: cv2.calibrateCamera(objectPoints, imagePoints, imageSize[, cameraMatrix[, distCoeffs[, rvecs[, tvecs[, flags[, criteria]]]]]]) -> retval, cameraMatrix, distCoeffs, rvecs, tvecs
 
-.. ocv:cfunction:: double cvCalibrateCamera2( const CvMat* objectPoints, const CvMat* imagePoints, const CvMat* pointCounts, CvSize imageSize, CvMat* cameraMatrix, CvMat* distCoeffs, CvMat* rvecs=NULL, CvMat* tvecs=NULL, int flags=0 )
+.. ocv:cfunction:: double cvCalibrateCamera2( const CvMat* objectPoints, const CvMat* imagePoints, const CvMat* pointCounts, CvSize imageSize, CvMat* cameraMatrix, CvMat* distCoeffs, CvMat* rvecs=NULL, CvMat* tvecs=NULL, int flags=0, CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) )
 
 .. ocv:pyoldfunction:: cv.CalibrateCamera2(objectPoints, imagePoints, pointCounts, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, flags=0)-> None
 
@@ -153,6 +153,8 @@ Finds the camera intrinsic and extrinsic parameters from several views of a cali
 
         * **CV_CALIB_RATIONAL_MODEL** Coefficients k4, k5, and k6 are enabled. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the rational model and return 8 coefficients. If the flag is not set, the function computes  and returns  only 5 distortion coefficients.
 
+    :param criteria: Termination criteria for the iterative optimization algorithm. 
+
 The function estimates the intrinsic camera
 parameters and extrinsic parameters for each of the views. The algorithm is based on [Zhang2000] and [BoughuetMCT]. The coordinates of 3D object points and their corresponding 2D projections
 in each view must be specified. That may be achieved by using an

modules/calib3d/include/opencv2/calib3d/calib3d.hpp

@@ -246,7 +246,9 @@ CVAPI(double) cvCalibrateCamera2( const CvMat* object_points,
                                 CvMat* distortion_coeffs,
                                 CvMat* rotation_vectors CV_DEFAULT(NULL),
                                 CvMat* translation_vectors CV_DEFAULT(NULL),
-                                int flags CV_DEFAULT(0) );
+                                int flags CV_DEFAULT(0),
+                                CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
+                                    CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
 
 /* Computes various useful characteristics of the camera from the data computed by
    cvCalibrateCamera2 */
@@ -579,7 +581,8 @@ CV_EXPORTS_W double calibrateCamera( InputArrayOfArrays objectPoints,
                                      CV_OUT InputOutputArray cameraMatrix,
                                      CV_OUT InputOutputArray distCoeffs,
                                      OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
-                                     int flags=0 );
+                                     int flags=0, TermCriteria criteria = TermCriteria(
+                                         TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON) );
 
 //! computes several useful camera characteristics from the camera matrix, camera frame resolution and the physical sensor size.
 CV_EXPORTS_W void calibrationMatrixValues( InputArray cameraMatrix,

modules/calib3d/src/calibration.cpp

@@ -1452,7 +1452,7 @@ CV_IMPL void cvInitIntrinsicParams2D( const CvMat* objectPoints,
 CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
                     const CvMat* imagePoints, const CvMat* npoints,
                     CvSize imageSize, CvMat* cameraMatrix, CvMat* distCoeffs,
-                    CvMat* rvecs, CvMat* tvecs, int flags )
+                    CvMat* rvecs, CvMat* tvecs, int flags, CvTermCriteria termCrit )
 {
     const int NINTRINSIC = 12;
     Ptr<CvMat> matM, _m, _Ji, _Je, _err;
@@ -1600,7 +1600,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
         cvInitIntrinsicParams2D( matM, _m, npoints, imageSize, &matA, aspectRatio );
     }
 
-    solver.init( nparams, 0, cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON) );
+    solver.init( nparams, 0, termCrit );
 
     {
     double* param = solver.param->data.db;
@@ -3396,7 +3396,7 @@ cv::Mat cv::initCameraMatrix2D( InputArrayOfArrays objectPoints,
 double cv::calibrateCamera( InputArrayOfArrays _objectPoints,
                             InputArrayOfArrays _imagePoints,
                             Size imageSize, InputOutputArray _cameraMatrix, InputOutputArray _distCoeffs,
-                            OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs, int flags )
+                            OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs, int flags, TermCriteria criteria )
 {
     int rtype = CV_64F;
     Mat cameraMatrix = _cameraMatrix.getMat();
@@ -3418,7 +3418,7 @@ double cv::calibrateCamera( InputArrayOfArrays _objectPoints,
 
     double reprojErr = cvCalibrateCamera2(&c_objPt, &c_imgPt, &c_npoints, imageSize,
                                           &c_cameraMatrix, &c_distCoeffs, &c_rvecM,
-                                          &c_tvecM, flags );
+                                          &c_tvecM, flags, criteria );
 
     bool rvecs_needed = _rvecs.needed(), tvecs_needed = _tvecs.needed();