Add calibration error estimation into Aruco module

modules/aruco/include/opencv2/aruco.hpp

@@ -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));
+
 
 //! @}
 }

modules/aruco/include/opencv2/aruco/charuco.hpp

@@ -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));
 
 
 

modules/aruco/src/aruco.cpp

@@ -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);
 }
 
 

modules/aruco/src/charuco.cpp

@@ -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,