Add an extended version of CalibrateCamera function

modules/calib3d/include/opencv2/calib3d.hpp

@@ -767,6 +767,14 @@ k-th translation vector (see the next output parameter description) brings the c
 from the model coordinate space (in which object points are specified) to the world coordinate
 space, that is, a real position of the calibration pattern in the k-th pattern view (k=0.. *M* -1).
 @param tvecs Output vector of translation vectors estimated for each pattern view.
+@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 Different flags that may be zero or a combination of the following values:
 -   **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
@@ -841,6 +849,24 @@ The function returns the final re-projection error.
 @sa
    findChessboardCorners, solvePnP, initCameraMatrix2D, stereoCalibrate, undistort
  */
+CV_EXPORTS_AS(calibrateCameraExtended) double calibrateCamera( InputArrayOfArrays objectPoints,
+                                     InputArrayOfArrays imagePoints, Size imageSize,
+                                     InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
+                                     OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
+                                     OutputArray stdDeviationsIntrinsics,
+                                     OutputArray stdDeviationsExtrinsics,
+                                     OutputArray perViewErrors,
+                                     int flags = 0, TermCriteria criteria = TermCriteria(
+                                        TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON) );
+
+/** @overload 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) )
+ */
 CV_EXPORTS_W double calibrateCamera( InputArrayOfArrays objectPoints,
                                      InputArrayOfArrays imagePoints, Size imageSize,
                                      InputOutputArray cameraMatrix, InputOutputArray distCoeffs,

modules/calib3d/include/opencv2/calib3d/calib3d_c.h

@@ -246,6 +246,7 @@ CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
 #define CV_CALIB_TILTED_MODEL  262144
 #define CV_CALIB_FIX_TAUX_TAUY  524288
 
+#define CV_CALIB_NINTRINSIC 18
 
 /* Finds intrinsic and extrinsic camera parameters
    from a few views of known calibration pattern */