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make cv::calibrateCamera, cv::stereoCalibrate and their C counterparts return the standard RMS error.

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This commit is contained in:
Vadim Pisarevsky
2010-11-30 10:27:34 +00:00
parent 8754cafffb
commit 3fd07809c9
3 changed files with 10 additions and 9 deletions
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11
samples/cpp/calibration.cpp
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@@ -91,14 +91,14 @@ static double computeReprojectionErrors(
{
projectPoints(Mat(objectPoints[i]), rvecs[i], tvecs[i],
cameraMatrix, distCoeffs, imagePoints2);
err = norm(Mat(imagePoints[i]), Mat(imagePoints2), CV_L1 );
err = norm(Mat(imagePoints[i]), Mat(imagePoints2), CV_L2);
int n = (int)objectPoints[i].size();
perViewErrors[i] = (float)(err/n);
totalErr += err;
perViewErrors[i] = (float)std::sqrt(err*err/n);
totalErr += err*err;
totalPoints += n;
}
return totalErr/totalPoints;
return std::sqrt(totalErr/totalPoints);
}
static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point3f>& corners)
@@ -130,9 +130,10 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
objectPoints.resize(imagePoints.size(),objectPoints[0]);
calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
distCoeffs, rvecs, tvecs, flags|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
///*|CV_CALIB_FIX_K3*/|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
printf("RMS error reported by calibrateCamera: %g\n", rms);
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);