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calibrateCamera: specifiy what kind of re-projection error is returned

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Pavel Rojtberg 2016-11-24 13:56:08 +01:00
parent 4c5c722939
commit e1503cc29e
1 changed files with 3 additions and 3 deletions
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6
modules/calib3d/include/opencv2/calib3d.hpp
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@ -784,7 +784,7 @@ space, that is, a real position of the calibration pattern in the k-th pattern v
@param stdDeviationsExtrinsics Output vector of standard deviations estimated for extrinsic parameters. @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, 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. \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 perViewErrors Output vector of the RMS re-projection error estimated for each pattern view.
@param flags Different flags that may be zero or a combination of the following values: @param flags Different flags that may be zero or a combination of the following values:
- **CV_CALIB_USE_INTRINSIC_GUESS** cameraMatrix contains valid initial values of - **CV_CALIB_USE_INTRINSIC_GUESS** cameraMatrix contains valid initial values of
fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
@ -823,6 +823,8 @@ the optimization. If CV_CALIB_USE_INTRINSIC_GUESS is set, the coefficient from t
supplied distCoeffs matrix is used. Otherwise, it is set to 0. supplied distCoeffs matrix is used. Otherwise, it is set to 0.
@param criteria Termination criteria for the iterative optimization algorithm. @param criteria Termination criteria for the iterative optimization algorithm.
@return the overall RMS re-projection error.
The function estimates the intrinsic camera parameters and extrinsic parameters for each of the The function estimates the intrinsic camera parameters and extrinsic parameters for each of the
views. The algorithm is based on @cite Zhang2000 and @cite BouguetMCT . The coordinates of 3D object views. The algorithm is based on @cite Zhang2000 and @cite BouguetMCT . The coordinates of 3D object
points and their corresponding 2D projections in each view must be specified. That may be achieved points and their corresponding 2D projections in each view must be specified. That may be achieved
@ -847,8 +849,6 @@ The algorithm performs the following steps:
the projected (using the current estimates for camera parameters and the poses) object points the projected (using the current estimates for camera parameters and the poses) object points
objectPoints. See projectPoints for details. objectPoints. See projectPoints for details.
The function returns the final re-projection error.
@note @note
If you use a non-square (=non-NxN) grid and findChessboardCorners for calibration, and If you use a non-square (=non-NxN) grid and findChessboardCorners for calibration, and
calibrateCamera returns bad values (zero distortion coefficients, an image center very far from calibrateCamera returns bad values (zero distortion coefficients, an image center very far from