Merge pull request #6453 from sovrasov:extend_calibrateCamera

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 */

modules/calib3d/src/calibration.cpp

@@ -1181,7 +1181,6 @@ CV_IMPL void cvFindExtrinsicCameraParams2( const CvMat* objectPoints,
     cvConvert( &_t, tvec );
 }
 
-
 CV_IMPL void cvInitIntrinsicParams2D( const CvMat* objectPoints,
                          const CvMat* imagePoints, const CvMat* npoints,
                          CvSize imageSize, CvMat* cameraMatrix,
@@ -1270,15 +1269,37 @@ CV_IMPL void cvInitIntrinsicParams2D( const CvMat* objectPoints,
     cvConvert( &_a, cameraMatrix );
 }
 
+static void subMatrix(const cv::Mat& src, cv::Mat& dst, const std::vector<uchar>& cols,
+                      const std::vector<uchar>& rows) {
+    int nonzeros_cols = cv::countNonZero(cols);
+    cv::Mat tmp(src.rows, nonzeros_cols, CV_64FC1);
 
-/* finds intrinsic and extrinsic camera parameters
-   from a few views of known calibration pattern */
-CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
+    for (int i = 0, j = 0; i < (int)cols.size(); i++)
+    {
+        if (cols[i])
+        {
+            src.col(i).copyTo(tmp.col(j++));
+        }
+    }
+
+    int nonzeros_rows  = cv::countNonZero(rows);
+    dst.create(nonzeros_rows, nonzeros_cols, CV_64FC1);
+    for (int i = 0, j = 0; i < (int)rows.size(); i++)
+    {
+        if (rows[i])
+        {
+            tmp.row(i).copyTo(dst.row(j++));
+        }
+    }
+}
+
+static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
                     const CvMat* imagePoints, const CvMat* npoints,
                     CvSize imageSize, CvMat* cameraMatrix, CvMat* distCoeffs,
-                    CvMat* rvecs, CvMat* tvecs, int flags, CvTermCriteria termCrit )
+                    CvMat* rvecs, CvMat* tvecs, CvMat* stdDevs,
+                    CvMat* perViewErrors, int flags, CvTermCriteria termCrit )
 {
-    const int NINTRINSIC = 18;
+    const int NINTRINSIC = CV_CALIB_NINTRINSIC;
     double reprojErr = 0;
 
     Matx33d A;
@@ -1338,6 +1359,20 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
                 "1xn or nx1 array or 1-channel nx3 array, where n is the number of views" );
     }
 
+    if( stdDevs )
+    {
+        cn = CV_MAT_CN(stdDevs->type);
+        if( !CV_IS_MAT(stdDevs) ||
+            (CV_MAT_DEPTH(stdDevs->type) != CV_32F && CV_MAT_DEPTH(stdDevs->type) != CV_64F) ||
+            ((stdDevs->rows != (nimages*6 + NINTRINSIC) || stdDevs->cols*cn != 1) &&
+            (stdDevs->rows != 1 || stdDevs->cols != (nimages*6 + NINTRINSIC) || cn != 1)) )
+#define STR__(x) #x
+#define STR_(x) STR__(x)
+            CV_Error( CV_StsBadArg, "the output array of standard deviations vectors must be 1-channel "
+                "1x(n*6 + NINTRINSIC) or (n*6 + NINTRINSIC)x1 array, where n is the number of views,"
+                " NINTRINSIC = " STR_(CV_CALIB_NINTRINSIC));
+    }
+
     if( (CV_MAT_TYPE(cameraMatrix->type) != CV_32FC1 &&
         CV_MAT_TYPE(cameraMatrix->type) != CV_64FC1) ||
         cameraMatrix->rows != 3 || cameraMatrix->cols != 3 )
@@ -1367,6 +1402,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
 
     Mat matM( 1, total, CV_64FC3 );
     Mat _m( 1, total, CV_64FC2 );
+    Mat allErrors(1, total, CV_64FC2);
 
     if(CV_MAT_CN(objectPoints->type) == 3) {
         cvarrToMat(objectPoints).convertTo(matM, CV_64F);
@@ -1518,6 +1554,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
         double* _errNorm = 0;
         bool proceed = solver.updateAlt( _param, _JtJ, _JtErr, _errNorm );
         double *param = solver.param->data.db, *pparam = solver.prevParam->data.db;
+        bool calcJ = solver.state == CvLevMarq::CALC_J || (!proceed && stdDevs);
 
         if( flags & CALIB_FIX_ASPECT_RATIO )
         {
@@ -1528,8 +1565,10 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
         A(0, 0) = param[0]; A(1, 1) = param[1]; A(0, 2) = param[2]; A(1, 2) = param[3];
         std::copy(param + 4, param + 4 + 14, k);
 
-        if( !proceed )
+        if ( !proceed && !stdDevs && !perViewErrors )
             break;
+        else if ( !proceed && stdDevs )
+            cvZero(_JtJ);
 
         reprojErr = 0;
 
@@ -1543,6 +1582,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
 
             CvMat _Mi(matM.colRange(pos, pos + ni));
             CvMat _mi(_m.colRange(pos, pos + ni));
+            CvMat _me(allErrors.colRange(pos, pos + ni));
 
             _Je.resize(ni*2); _Ji.resize(ni*2); _err.resize(ni*2);
             CvMat _dpdr(_Je.colRange(0, 3));
@@ -1552,7 +1592,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
             CvMat _dpdk(_Ji.colRange(4, NINTRINSIC));
             CvMat _mp(_err.reshape(2, 1));
 
-            if( solver.state == CvLevMarq::CALC_J )
+            if( calcJ )
             {
                  cvProjectPoints2( &_Mi, &_ri, &_ti, &matA, &_k, &_mp, &_dpdr, &_dpdt,
                                   (flags & CALIB_FIX_FOCAL_LENGTH) ? 0 : &_dpdf,
@@ -1563,8 +1603,10 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
                 cvProjectPoints2( &_Mi, &_ri, &_ti, &matA, &_k, &_mp );
 
             cvSub( &_mp, &_mi, &_mp );
+            if (perViewErrors || stdDevs)
+                cvCopy(&_mp, &_me);
 
-            if( solver.state == CvLevMarq::CALC_J )
+            if( calcJ )
             {
                 Mat JtJ(cvarrToMat(_JtJ)), JtErr(cvarrToMat(_JtErr));
 
@@ -1581,15 +1623,52 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
         }
         if( _errNorm )
             *_errNorm = reprojErr;
+
+        if( !proceed )
+        {
+            if( stdDevs )
+            {
+                Mat mask = cvarrToMat(solver.mask);
+                int nparams_nz = countNonZero(mask);
+                Mat JtJinv, JtJN;
+                JtJN.create(nparams_nz, nparams_nz, CV_64F);
+                subMatrix(cvarrToMat(_JtJ), JtJN, mask, mask);
+                completeSymm(JtJN, false);
+                cv::invert(JtJN, JtJinv, DECOMP_SVD);
+                //sigma2 is deviation of the noise
+                //see any papers about variance of the least squares estimator for
+                //detailed description of the variance estimation methods
+                double sigma2 = norm(allErrors, NORM_L2SQR) / (total - nparams_nz);
+                Mat stdDevsM = cvarrToMat(stdDevs);
+                int j = 0;
+                for ( int s = 0; s < nparams; s++ )
+                    if( mask.data[s] )
+                    {
+                        stdDevsM.at<double>(s) = std::sqrt(JtJinv.at<double>(j,j) * sigma2);
+                        j++;
+                    }
+                    else
+                        stdDevsM.at<double>(s) = 0.;
+            }
+            break;
+        }
     }
 
     // 4. store the results
     cvConvert( &matA, cameraMatrix );
     cvConvert( &_k, distCoeffs );
 
-    for( i = 0; i < nimages; i++ )
+    for( i = 0, pos = 0; i < nimages; i++ )
     {
         CvMat src, dst;
+        if( perViewErrors )
+        {
+            ni = npoints->data.i[i*npstep];
+            perViewErrors->data.db[i] = std::sqrt(cv::norm(allErrors.colRange(pos, pos + ni),
+                                                           NORM_L2SQR) / ni);
+            pos+=ni;
+        }
+
         if( rvecs )
         {
             src = cvMat( 3, 1, CV_64F, solver.param->data.db + NINTRINSIC + i*6 );
@@ -1622,6 +1701,17 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
 }
 
 
+/* finds intrinsic and extrinsic camera parameters
+   from a few views of known calibration pattern */
+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, CvTermCriteria termCrit )
+{
+    return cvCalibrateCamera2Internal(objectPoints, imagePoints, npoints, imageSize, cameraMatrix,
+                                      distCoeffs, rvecs, tvecs, NULL, NULL, flags, termCrit);
+}
+
 void cvCalibrationMatrixValues( const CvMat *calibMatr, CvSize imgSize,
     double apertureWidth, double apertureHeight, double *fovx, double *fovy,
     double *focalLength, CvPoint2D64f *principalPoint, double *pasp )
@@ -1772,7 +1862,7 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
         if( !(flags & (CV_CALIB_FIX_INTRINSIC|CV_CALIB_USE_INTRINSIC_GUESS)))
         {
             cvCalibrateCamera2( objectPoints, imagePoints[k],
-                npoints, imageSize, &K[k], &Dist[k], 0, 0, flags );
+                npoints, imageSize, &K[k], &Dist[k], NULL, NULL, flags );
         }
     }
 
@@ -3091,7 +3181,6 @@ static void collectCalibrationData( InputArrayOfArrays objectPoints,
     }
 }
 
-
 static Mat prepareCameraMatrix(Mat& cameraMatrix0, int rtype)
 {
     Mat cameraMatrix = Mat::eye(3, 3, rtype);
@@ -3287,10 +3376,23 @@ 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, TermCriteria criteria )
+{
+    return calibrateCamera(_objectPoints, _imagePoints, imageSize, _cameraMatrix, _distCoeffs,
+                                         _rvecs, _tvecs, noArray(), noArray(), noArray(), flags, criteria);
+}
+
+double cv::calibrateCamera(InputArrayOfArrays _objectPoints,
+                            InputArrayOfArrays _imagePoints,
+                            Size imageSize, InputOutputArray _cameraMatrix, InputOutputArray _distCoeffs,
+                            OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs,
+                            OutputArray stdDeviationsIntrinsics,
+                            OutputArray stdDeviationsExtrinsics,
+                            OutputArray _perViewErrors, int flags, TermCriteria criteria )
 {
     int rtype = CV_64F;
     Mat cameraMatrix = _cameraMatrix.getMat();
@@ -3304,14 +3406,17 @@ double cv::calibrateCamera( InputArrayOfArrays _objectPoints,
 
     int nimages = int(_objectPoints.total());
     CV_Assert( nimages > 0 );
-    Mat objPt, imgPt, npoints, rvecM, tvecM;
+    Mat objPt, imgPt, npoints, rvecM, tvecM, stdDeviationsM, errorsM;
 
-    bool rvecs_needed = _rvecs.needed(), tvecs_needed = _tvecs.needed();
+    bool rvecs_needed = _rvecs.needed(), tvecs_needed = _tvecs.needed(),
+            stddev_needed = stdDeviationsIntrinsics.needed(), errors_needed = _perViewErrors.needed(),
+            stddev_ext_needed = stdDeviationsExtrinsics.needed();
 
     bool rvecs_mat_vec = _rvecs.isMatVector();
     bool tvecs_mat_vec = _tvecs.isMatVector();
 
-    if( rvecs_needed ) {
+    if( rvecs_needed )
+    {
         _rvecs.create(nimages, 1, CV_64FC3);
 
         if(rvecs_mat_vec)
@@ -3320,7 +3425,8 @@ double cv::calibrateCamera( InputArrayOfArrays _objectPoints,
             rvecM = _rvecs.getMat();
     }
 
-    if( tvecs_needed ) {
+    if( tvecs_needed )
+    {
         _tvecs.create(nimages, 1, CV_64FC3);
 
         if(tvecs_mat_vec)
@@ -3329,16 +3435,46 @@ double cv::calibrateCamera( InputArrayOfArrays _objectPoints,
             tvecM = _tvecs.getMat();
     }
 
+    if( stddev_needed || stddev_ext_needed )
+    {
+        stdDeviationsM.create(nimages*6 + CV_CALIB_NINTRINSIC, 1, CV_64F);
+    }
+
+    if( errors_needed )
+    {
+        _perViewErrors.create(nimages, 1, CV_64F);
+        errorsM = _perViewErrors.getMat();
+    }
+
     collectCalibrationData( _objectPoints, _imagePoints, noArray(),
                             objPt, imgPt, 0, npoints );
     CvMat c_objPt = objPt, c_imgPt = imgPt, c_npoints = npoints;
     CvMat c_cameraMatrix = cameraMatrix, c_distCoeffs = distCoeffs;
-    CvMat c_rvecM = rvecM, c_tvecM = tvecM;
+    CvMat c_rvecM = rvecM, c_tvecM = tvecM, c_stdDev = stdDeviationsM, c_errors = errorsM;
 
-    double reprojErr = cvCalibrateCamera2(&c_objPt, &c_imgPt, &c_npoints, imageSize,
+    double reprojErr = cvCalibrateCamera2Internal(&c_objPt, &c_imgPt, &c_npoints, imageSize,
                                           &c_cameraMatrix, &c_distCoeffs,
                                           rvecs_needed ? &c_rvecM : NULL,
-                                          tvecs_needed ? &c_tvecM : NULL, flags, criteria );
+                                          tvecs_needed ? &c_tvecM : NULL,
+                                          stddev_needed ? &c_stdDev : NULL,
+                                          errors_needed ? &c_errors : NULL, flags, criteria );
+
+    if( stddev_needed )
+    {
+        stdDeviationsIntrinsics.create(CV_CALIB_NINTRINSIC, 1, CV_64F);
+        Mat stdDeviationsIntrinsicsMat = stdDeviationsIntrinsics.getMat();
+        std::memcpy(stdDeviationsIntrinsicsMat.ptr(), stdDeviationsM.ptr(),
+                    CV_CALIB_NINTRINSIC*sizeof(double));
+    }
+
+    if ( stddev_ext_needed )
+    {
+        stdDeviationsExtrinsics.create(nimages*6, 1, CV_64F);
+        Mat stdDeviationsExtrinsicsMat = stdDeviationsExtrinsics.getMat();
+        std::memcpy(stdDeviationsExtrinsicsMat.ptr(),
+                    stdDeviationsM.ptr() + CV_CALIB_NINTRINSIC*sizeof(double),
+                    nimages*6*sizeof(double));
+    }
 
     // overly complicated and inefficient rvec/ tvec handling to support vector<Mat>
     for(int i = 0; i < nimages; i++ )

modules/calib3d/src/compat_ptsetreg.cpp

@@ -241,6 +241,8 @@ bool CvLevMarq::updateAlt( const CvMat*& _param, CvMat*& _JtJ, CvMat*& _JtErr, d
         cvNorm(param, prevParam, CV_RELATIVE_L2) < criteria.epsilon )
     {
         _param = param;
+        _JtJ = JtJ;
+        _JtErr = JtErr;
         state = DONE;
         return false;
     }

modules/calib3d/test/test_cameracalibration.cpp

@@ -259,7 +259,7 @@ protected:
     virtual void calibrate( int imageCount, int* pointCounts,
         CvSize imageSize, CvPoint2D64f* imagePoints, CvPoint3D64f* objectPoints,
         double* distortionCoeffs, double* cameraMatrix, double* translationVectors,
-        double* rotationMatrices, int flags ) = 0;
+        double* rotationMatrices, double *stdDevs, double* perViewErrors, int flags ) = 0;
     virtual void project( int pointCount, CvPoint3D64f* objectPoints,
         double* rotationMatrix, double*  translationVector,
         double* cameraMatrix, double* distortion, CvPoint2D64f* imagePoints ) = 0;
@@ -303,9 +303,13 @@ void CV_CameraCalibrationTest::run( int start_from )
 
     double*       transVects;
     double*       rotMatrs;
+    double*       stdDevs;
+    double*       perViewErrors;
 
     double*       goodTransVects;
     double*       goodRotMatrs;
+    double*       goodPerViewErrors;
+    double*       goodStdDevs;
 
     double          cameraMatrix[3*3];
     double          distortion[5]={0,0,0,0,0};
@@ -424,9 +428,13 @@ void CV_CameraCalibrationTest::run( int start_from )
         /* Allocate memory for translate vectors and rotmatrixs*/
         transVects     = (double*)cvAlloc(3 * 1 * numImages * sizeof(double));
         rotMatrs       = (double*)cvAlloc(3 * 3 * numImages * sizeof(double));
+        stdDevs        = (double*)cvAlloc((CV_CALIB_NINTRINSIC + 6*numImages) * sizeof(double));
+        perViewErrors  = (double*)cvAlloc(numImages * sizeof(double));
 
         goodTransVects = (double*)cvAlloc(3 * 1 * numImages * sizeof(double));
         goodRotMatrs   = (double*)cvAlloc(3 * 3 * numImages * sizeof(double));
+        goodPerViewErrors  = (double*)cvAlloc(numImages * sizeof(double));
+        goodStdDevs = (double*)cvAlloc((CV_CALIB_NINTRINSIC + 6*numImages) * sizeof(double));
 
         /* Read object points */
         i = 0;/* shift for current point */
@@ -501,6 +509,13 @@ void CV_CameraCalibrationTest::run( int start_from )
             }
         }
 
+        /* Read good stdDeviations */
+        for (i = 0; i < CV_CALIB_NINTRINSIC + numImages*6; i++)
+        {
+            values_read = fscanf(file, "%lf", goodStdDevs + i);
+            CV_Assert(values_read == 1);
+        }
+
         calibFlags = 0
                      // + CV_CALIB_FIX_PRINCIPAL_POINT
                      // + CV_CALIB_ZERO_TANGENT_DIST
@@ -526,6 +541,8 @@ void CV_CameraCalibrationTest::run( int start_from )
                     cameraMatrix,
                     transVects,
                     rotMatrs,
+                    stdDevs,
+                    perViewErrors,
                     calibFlags );
 
         /* ---- Reproject points to the image ---- */
@@ -553,6 +570,8 @@ void CV_CameraCalibrationTest::run( int start_from )
         meanDy = 0;
         for( currImage = 0; currImage < numImages; currImage++ )
         {
+            double imageMeanDx = 0;
+            double imageMeanDy = 0;
             for( currPoint = 0; currPoint < etalonSize.width * etalonSize.height; currPoint++ )
             {
                 rx = reprojectPoints[i].x;
@@ -563,6 +582,9 @@ void CV_CameraCalibrationTest::run( int start_from )
                 meanDx += dx;
                 meanDy += dy;
 
+                imageMeanDx += dx*dx;
+                imageMeanDy += dy*dy;
+
                 dx = fabs(dx);
                 dy = fabs(dy);
 
@@ -573,6 +595,13 @@ void CV_CameraCalibrationTest::run( int start_from )
                     maxDy = dy;
                 i++;
             }
+            goodPerViewErrors[currImage] = sqrt( (imageMeanDx + imageMeanDy) /
+                                           (etalonSize.width * etalonSize.height));
+
+            //only for c-version of test (it does not provides evaluation of perViewErrors
+            //and returns zeros)
+            if(perViewErrors[currImage] == 0.0)
+                perViewErrors[currImage] = goodPerViewErrors[currImage];
         }
 
         meanDx /= numImages * etalonSize.width * etalonSize.height;
@@ -613,6 +642,23 @@ void CV_CameraCalibrationTest::run( int start_from )
         if( code < 0 )
             goto _exit_;
 
+        /* ----- Compare per view re-projection errors ----- */
+        code = compare(perViewErrors,goodPerViewErrors, numImages,0.1,"per view errors vector");
+        if( code < 0 )
+            goto _exit_;
+
+        /* ----- Compare standard deviations of parameters ----- */
+        //only for c-version of test (it does not provides evaluation of stdDevs
+        //and returns zeros)
+        for ( i = 0; i < CV_CALIB_NINTRINSIC + 6*numImages; i++)
+        {
+            if(stdDevs[i] == 0.0)
+                stdDevs[i] = goodStdDevs[i];
+        }
+        code = compare(stdDevs,goodStdDevs, CV_CALIB_NINTRINSIC + 6*numImages,.5,"stdDevs vector");
+        if( code < 0 )
+            goto _exit_;
+
         if( maxDx > 1.0 )
         {
             ts->printf( cvtest::TS::LOG,
@@ -636,8 +682,12 @@ void CV_CameraCalibrationTest::run( int start_from )
 
         cvFree(&transVects);
         cvFree(&rotMatrs);
+        cvFree(&stdDevs);
+        cvFree(&perViewErrors);
         cvFree(&goodTransVects);
         cvFree(&goodRotMatrs);
+        cvFree(&goodPerViewErrors);
+        cvFree(&goodStdDevs);
 
         fclose(file);
         file = 0;
@@ -676,20 +726,28 @@ protected:
     virtual void calibrate( int imageCount, int* pointCounts,
         CvSize imageSize, CvPoint2D64f* imagePoints, CvPoint3D64f* objectPoints,
         double* distortionCoeffs, double* cameraMatrix, double* translationVectors,
-        double* rotationMatrices, int flags );
+        double* rotationMatrices, double *stdDevs, double* perViewErrors, int flags );
     virtual void project( int pointCount, CvPoint3D64f* objectPoints,
         double* rotationMatrix, double*  translationVector,
         double* cameraMatrix, double* distortion, CvPoint2D64f* imagePoints );
 };
 
-void CV_CameraCalibrationTest_C::calibrate( int imageCount, int* pointCounts,
+void CV_CameraCalibrationTest_C::calibrate(int imageCount, int* pointCounts,
         CvSize imageSize, CvPoint2D64f* imagePoints, CvPoint3D64f* objectPoints,
         double* distortionCoeffs, double* cameraMatrix, double* translationVectors,
-        double* rotationMatrices, int flags )
+        double* rotationMatrices, double *stdDevs, double *perViewErrors, int flags )
 {
     int i, total = 0;
     for( i = 0; i < imageCount; i++ )
+    {
+        perViewErrors[i] = 0.0;
         total += pointCounts[i];
+    }
+
+    for( i = 0; i < CV_CALIB_NINTRINSIC + imageCount*6; i++)
+    {
+        stdDevs[i] = 0.0;
+    }
 
     CvMat _objectPoints = cvMat(1, total, CV_64FC3, objectPoints);
     CvMat _imagePoints = cvMat(1, total, CV_64FC2, imagePoints);
@@ -700,8 +758,7 @@ void CV_CameraCalibrationTest_C::calibrate( int imageCount, int* pointCounts,
     CvMat _translationVectors = cvMat(imageCount, 3, CV_64F, translationVectors);
 
     cvCalibrateCamera2(&_objectPoints, &_imagePoints, &_pointCounts, imageSize,
-                       &_cameraMatrix, &_distCoeffs, &_rotationMatrices, &_translationVectors,
-                       flags);
+                       &_cameraMatrix, &_distCoeffs, &_rotationMatrices, &_translationVectors, flags);
 }
 
 void CV_CameraCalibrationTest_C::project( int pointCount, CvPoint3D64f* objectPoints,
@@ -728,22 +785,24 @@ protected:
     virtual void calibrate( int imageCount, int* pointCounts,
         CvSize imageSize, CvPoint2D64f* imagePoints, CvPoint3D64f* objectPoints,
         double* distortionCoeffs, double* cameraMatrix, double* translationVectors,
-        double* rotationMatrices, int flags );
+        double* rotationMatrices, double *stdDevs, double* perViewErrors,  int flags );
     virtual void project( int pointCount, CvPoint3D64f* objectPoints,
         double* rotationMatrix, double*  translationVector,
         double* cameraMatrix, double* distortion, CvPoint2D64f* imagePoints );
 };
 
-void CV_CameraCalibrationTest_CPP::calibrate( int imageCount, int* pointCounts,
+void CV_CameraCalibrationTest_CPP::calibrate(int imageCount, int* pointCounts,
         CvSize _imageSize, CvPoint2D64f* _imagePoints, CvPoint3D64f* _objectPoints,
         double* _distortionCoeffs, double* _cameraMatrix, double* translationVectors,
-        double* rotationMatrices, int flags )
+        double* rotationMatrices, double *stdDevs, double *perViewErrors, int flags )
 {
     vector<vector<Point3f> > objectPoints( imageCount );
     vector<vector<Point2f> > imagePoints( imageCount );
     Size imageSize = _imageSize;
     Mat cameraMatrix, distCoeffs(1,4,CV_64F,Scalar::all(0));
     vector<Mat> rvecs, tvecs;
+    Mat stdDevsMatInt, stdDevsMatExt;
+    Mat perViewErrorsMat;
 
     CvPoint3D64f* op = _objectPoints;
     CvPoint2D64f* ip = _imagePoints;
@@ -770,8 +829,23 @@ void CV_CameraCalibrationTest_CPP::calibrate( int imageCount, int* pointCounts,
                      distCoeffs,
                      rvecs,
                      tvecs,
+                     stdDevsMatInt,
+                     stdDevsMatExt,
+                     perViewErrorsMat,
                      flags );
 
+    assert( stdDevsMatInt.type() == CV_64F );
+    assert( stdDevsMatInt.total() == static_cast<size_t>(CV_CALIB_NINTRINSIC) );
+    memcpy( stdDevs, stdDevsMatInt.ptr(), CV_CALIB_NINTRINSIC*sizeof(double) );
+
+    assert( stdDevsMatExt.type() == CV_64F );
+    assert( stdDevsMatExt.total() == static_cast<size_t>(6*imageCount) );
+    memcpy( stdDevs + CV_CALIB_NINTRINSIC, stdDevsMatExt.ptr(), 6*imageCount*sizeof(double) );
+
+    assert( perViewErrorsMat.type() == CV_64F);
+    assert( perViewErrorsMat.total() == static_cast<size_t>(imageCount) );
+    memcpy( perViewErrors, perViewErrorsMat.ptr(), imageCount*sizeof(double) );
+
     assert( cameraMatrix.type() == CV_64FC1 );
     memcpy( _cameraMatrix, cameraMatrix.ptr(), 9*sizeof(double) );