Added the "Camera calibration With OpenCV" tutorial. Extended with a few...

Added the "Camera calibration With OpenCV" tutorial. Extended with a few global links the conf.py file. Corrected an error in the linux_install.rst and one in the cascade_classifier.rst file.

Added the "Camera calibration With OpenCV" tutorial. Extended with a few...
Added the "Camera calibration With OpenCV" tutorial. Extended with a few global links the conf.py file. Corrected an error in the linux_install.rst and one in the cascade_classifier.rst file.
df491588 · Bernat Gabor · 0ed6d86a · df491588 · df491588 · df491588
13 changed file
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -276,7 +276,32 @@ man_pages = [
 ]

 # ---- External links for tutorials -----------------
-extlinks = {'cvt_color': ('http://opencv.willowgarage.com/documentation/cpp/imgproc_miscellaneous_image_transformations.html#cv-cvtcolor%s', None),
+extlinks = {
+            'basicstructures' : ('http://opencv.itseez.com/modules/core/doc/basic_structures.html#%s', None),
+            'oldbasicstructures' : ('http://opencv.itseez.com/modules/core/doc/old_basic_structures.html#%s', None),
+            'readwriteimagevideo' : ('http://opencv.itseez.com/modules/highgui/doc/reading_and_writing_images_and_video.html#%s', None),
+            'operationsonarrays' : ('http://opencv.itseez.com/modules/core/doc/operations_on_arrays.html#%s', None),
+            'utilitysystemfunctions':('http://opencv.itseez.com/modules/core/doc/utility_and_system_functions_and_macros.html#%s', None),
+            'imgprocfilter':('http://opencv.itseez.com/modules/imgproc/doc/filtering.html#%s', None),
+            'svms':('http://opencv.itseez.com/modules/ml/doc/support_vector_machines.html#%s', None),
+            'drawingfunc':('http://opencv.itseez.com/modules/core/doc/drawing_functions.html#%s', None),
+            'xmlymlpers':('http://opencv.itseez.com/modules/core/doc/xml_yaml_persistence.html#%s', None),
+            'huivideo' : ('http://opencv.itseez.com/modules/highgui/doc/reading_and_writing_images_and_video.html#%s', None),
+            'gpuinit' : ('http://opencv.itseez.com/modules/gpu/doc/initalization_and_information.html#%s', None),
+            'gpudatastructure' : ('http://opencv.itseez.com/modules/gpu/doc/data_structures.html#%s', None),
+            'gpuopmatrices' : ('http://opencv.itseez.com/modules/gpu/doc/operations_on_matrices.html#%s', None),
+            'gpuperelement' : ('http://opencv.itseez.com/modules/gpu/doc/per_element_operations.html#%s', None),
+            'gpuimgproc' : ('http://opencv.itseez.com/modules/gpu/doc/image_processing.html#%s', None),
+            'gpumatrixreduct' : ('http://opencv.itseez.com/modules/gpu/doc/matrix_reductions.html#%s', None),
+            'filtering':('http://opencv.itseez.com/modules/imgproc/doc/filtering.html#%s', None),
+            'flann' : ('http://opencv.willowgarage.com/documentation/cpp/flann_fast_approximate_nearest_neighbor_search.html#%s', None ),
+            'calib3d' : ('http://opencv.itseez.com/trunk/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#%s', None ),
+            'feature2d' : ('http://opencv.itseez.com/trunk/modules/imgproc/doc/feature_detection.html#%s', None ),
+            'imgproc_geometric' : ('http://opencv.itseez.com/trunk/modules/imgproc/doc/geometric_transformations.html#%s', None ),
+            
+            'opencv_group' : ('http://tech.groups.yahoo.com/group/OpenCV/%s', None),
+
+            'cvt_color': ('http://opencv.willowgarage.com/documentation/cpp/imgproc_miscellaneous_image_transformations.html#cv-cvtcolor%s', None),
            'imread':    ('http://opencv.willowgarage.com/documentation/cpp/highgui_reading_and_writing_images_and_video.html?highlight=imread#imread%s', None),
            'imwrite':   ('http://opencv.willowgarage.com/documentation/cpp/highgui_reading_and_writing_images_and_video.html?highlight=imread#cv-imwrite%s', None),
            'imshow':    ('http://opencv.willowgarage.com/documentation/cpp/highgui_user_interface.html?highlight=imshow#imshow%s', None),
@@ -316,7 +341,6 @@ extlinks = {'cvt_color': ('http://opencv.willowgarage.com/documentation/cpp/imgp
            'laplacian': ('http://opencv.willowgarage.com/documentation/cpp/image_filtering.html#cv-laplacian%s', None),
            'canny': ('http://opencv.willowgarage.com/documentation/cpp/imgproc_feature_detection.html?#Canny%s', None),
            'copy_to': ('http://opencv.willowgarage.com/documentation/cpp/core_basic_structures.html?#Mat::copyTo%s', None), 	
-            'opencv_group' : ('http://tech.groups.yahoo.com/group/OpenCV/%s', None),
            'hough_lines' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_feature_detection.html?#cv-houghlines%s', None),
            'hough_lines_p' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_feature_detection.html?#cv-houghlinesp%s', None),
            'hough_circles' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_feature_detection.html?#cv-houghcircles%s', None),
@@ -348,39 +372,20 @@ extlinks = {'cvt_color': ('http://opencv.willowgarage.com/documentation/cpp/imgp
            'moments' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-moments%s', None),
            'contour_area' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-contourarea%s', None),
            'arc_length' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-arclength%s', None),
-            'basicstructures' : ('http://opencv.itseez.com/modules/core/doc/basic_structures.html#%s', None),
-            'oldbasicstructures' : ('http://opencv.itseez.com/modules/core/doc/old_basic_structures.html#%s', None),
-            'readwriteimagevideo' : ('http://opencv.itseez.com/modules/highgui/doc/reading_and_writing_images_and_video.html#%s', None),
-            'operationsonarrays' : ('http://opencv.itseez.com/modules/core/doc/operations_on_arrays.html#%s', None),
-            'utilitysystemfunctions':('http://opencv.itseez.com/modules/core/doc/utility_and_system_functions_and_macros.html#%s', None),
-            'imgprocfilter':('http://opencv.itseez.com/modules/imgproc/doc/filtering.html#%s', None),
-            'svms':('http://opencv.itseez.com/modules/ml/doc/support_vector_machines.html#%s', None),
-			'drawingfunc':('http://opencv.itseez.com/modules/core/doc/drawing_functions.html#%s', None),
-            'xmlymlpers':('http://opencv.itseez.com/modules/core/doc/xml_yaml_persistence.html#%s', None),
-			'huivideo' : ('http://opencv.itseez.com/modules/highgui/doc/reading_and_writing_images_and_video.html#%s', None),
-			'gpuinit' : ('http://opencv.itseez.com/modules/gpu/doc/initalization_and_information.html#%s', None),
-			'gpudatastructure' : ('http://opencv.itseez.com/modules/gpu/doc/data_structures.html#%s', None),
-			'gpuopmatrices' : ('http://opencv.itseez.com/modules/gpu/doc/operations_on_matrices.html#%s', None),
-			'gpuperelement' : ('http://opencv.itseez.com/modules/gpu/doc/per_element_operations.html#%s', None),
-			'gpuimgproc' : ('http://opencv.itseez.com/modules/gpu/doc/image_processing.html#%s', None),
-			'gpumatrixreduct' : ('http://opencv.itseez.com/modules/gpu/doc/matrix_reductions.html#%s', None),'filtering':('http://opencv.itseez.com/modules/imgproc/doc/filtering.html#%s', None),
            'point_polygon_test' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-pointpolygontest%s', None),
            'feature_detector' : ( 'http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_feature_detectors.html#featuredetector%s', None),
-	        'feature_detector_detect' : ('http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_feature_detectors.html#cv-featuredetector-detect%s', None ),
-	        'surf_feature_detector' : ('http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_feature_detectors.html#surffeaturedetector%s', None ),
-	        'draw_keypoints' : ('http://opencv.willowgarage.com/documentation/cpp/features2d_drawing_function_of_keypoints_and_matches.html#cv-drawkeypoints%s', None ),
-	        'descriptor_extractor': ( 'http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_descriptor_extractors.html#descriptorextractor%s', None ),
-	        'descriptor_extractor_compute' : ( 'http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_descriptor_extractors.html#cv-descriptorextractor-compute%s', None ),
-	        'surf_descriptor_extractor' : ( 'http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_descriptor_extractors.html#surfdescriptorextractor%s', None ),
-	        'draw_matches' : ( 'http://opencv.willowgarage.com/documentation/cpp/features2d_drawing_function_of_keypoints_and_matches.html#cv-drawmatches%s', None ),
-	        'find_homography' : ('http://opencv.willowgarage.com/documentation/cpp/calib3d_camera_calibration_and_3d_reconstruction.html?#findHomography%s', None),
-	        'perspective_transform' : ('http://opencv.willowgarage.com/documentation/cpp/core_operations_on_arrays.html?#perspectiveTransform%s', None ),
-	        'flann_based_matcher' : ('http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_descriptor_matchers.html?#FlannBasedMatcher%s', None),
-	        'brute_force_matcher' : ('http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_descriptor_matchers.html?#BruteForceMatcher%s', None ),
-	        'flann' : ('http://opencv.willowgarage.com/documentation/cpp/flann_fast_approximate_nearest_neighbor_search.html?%s', None ),
-	        'cascade_classifier' : ('http://opencv.willowgarage.com/documentation/cpp/objdetect_cascade_classification.html#cascadeclassifier%s', None ),
-		'cascade_classifier_load' : ('http://opencv.willowgarage.com/documentation/cpp/objdetect_cascade_classification.html#cv-cascadeclassifier-load%s', None ),
-		'cascade_classifier_detect_multiscale' : ('http://opencv.willowgarage.com/documentation/cpp/objdetect_cascade_classification.html#cv-cascadeclassifier-detectmultiscale%s', None )			 		 
-           }
-
-
+            'feature_detector_detect' : ('http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_feature_detectors.html#cv-featuredetector-detect%s', None ),
+            'surf_feature_detector' : ('http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_feature_detectors.html#surffeaturedetector%s', None ),
+            'draw_keypoints' : ('http://opencv.willowgarage.com/documentation/cpp/features2d_drawing_function_of_keypoints_and_matches.html#cv-drawkeypoints%s', None ),
+            'descriptor_extractor': ( 'http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_descriptor_extractors.html#descriptorextractor%s', None ),
+            'descriptor_extractor_compute' : ( 'http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_descriptor_extractors.html#cv-descriptorextractor-compute%s', None ),
+            'surf_descriptor_extractor' : ( 'http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_descriptor_extractors.html#surfdescriptorextractor%s', None ),
+            'draw_matches' : ( 'http://opencv.willowgarage.com/documentation/cpp/features2d_drawing_function_of_keypoints_and_matches.html#cv-drawmatches%s', None ),
+            'find_homography' : ('http://opencv.willowgarage.com/documentation/cpp/calib3d_camera_calibration_and_3d_reconstruction.html?#findHomography%s', None),
+            'perspective_transform' : ('http://opencv.willowgarage.com/documentation/cpp/core_operations_on_arrays.html?#perspectiveTransform%s', None ),
+            'flann_based_matcher' : ('http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_descriptor_matchers.html?#FlannBasedMatcher%s', None),
+            'brute_force_matcher' : ('http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_descriptor_matchers.html?#BruteForceMatcher%s', None ),
+            'cascade_classifier' : ('http://opencv.willowgarage.com/documentation/cpp/objdetect_cascade_classification.html#cascadeclassifier%s', None ),
+            'cascade_classifier_load' : ('http://opencv.willowgarage.com/documentation/cpp/objdetect_cascade_classification.html#cv-cascadeclassifier-load%s', None ),
+            'cascade_classifier_detect_multiscale' : ('http://opencv.willowgarage.com/documentation/cpp/objdetect_cascade_classification.html#cv-cascadeclassifier-detectmultiscale%s', None )	
+           }
\ No newline at end of file
--- a/doc/tutorials/calib3d/camera_calibration/camera_calibration.rst
+++ b/doc/tutorials/calib3d/camera_calibration/camera_calibration.rst
--- a/doc/tutorials/calib3d/camera_calibration/images/asymetricalPattern.jpg
+++ b/doc/tutorials/calib3d/camera_calibration/images/asymetricalPattern.jpg
--- a/doc/tutorials/calib3d/camera_calibration/images/fileListImage.jpg
+++ b/doc/tutorials/calib3d/camera_calibration/images/fileListImage.jpg
--- a/doc/tutorials/calib3d/camera_calibration/images/fileListImageUnDist.jpg
+++ b/doc/tutorials/calib3d/camera_calibration/images/fileListImageUnDist.jpg
--- a/doc/tutorials/calib3d/table_of_content_calib3d/images/camera_calibration.png
+++ b/doc/tutorials/calib3d/table_of_content_calib3d/images/camera_calibration.png
--- a/doc/tutorials/calib3d/table_of_content_calib3d/table_of_content_calib3d.rst
+++ b/doc/tutorials/calib3d/table_of_content_calib3d/table_of_content_calib3d.rst
@@ -26,6 +26,25 @@ Although we got most of our images in a 2D format they do come from a 3D world.
     :height: 90pt
     :width:  90pt

+ 
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ===================== ==============================================
+   |CameraCalibration|  **Title:** :ref:`cameraCalibrationOpenCV`
+
+                        *Compatibility:* > OpenCV 2.0
+
+                        *Author:* |Author_BernatG|
+
+                        Camera calibration by using either the chessboard, circle or the asymmetrical circle pattern. Get the images either from a camera attached, a video file or from an image collection.
+
+  ===================== ==============================================
+
+  .. |CameraCalibration| image:: images/camera_calibration.png
+     :height: 90pt
+     :width:  90pt
+
 .. raw:: latex

   \pagebreak
@@ -34,3 +53,4 @@ Although we got most of our images in a 2D format they do come from a 3D world.
   :hidden:

   ../camera_calibration_square_chess/camera_calibration_square_chess
+   ../camera_calibration/camera_calibration
--- a/doc/tutorials/introduction/linux_install/linux_install.rst
+++ b/doc/tutorials/introduction/linux_install/linux_install.rst
@@ -28,7 +28,7 @@ All the libraries above can be installed via Terminal or by using Synaptic Manag
 Getting OpenCV source code 
 ============================

-You can use the latest stable OpenCV version available in *sourceforge* or you can grab the latest snapshot from the `SVN repository < http://code.ros.org/svn/opencv/>`_.
+You can use the latest stable OpenCV version available in *sourceforge* or you can grab the latest snapshot from the `SVN repository <http://code.ros.org/svn/opencv/>`_.

 Getting the latest stable OpenCV version
 ------------------------------------------

--- a/doc/tutorials/objdetect/cascade_classifier/cascade_classifier.rst
+++ b/doc/tutorials/objdetect/cascade_classifier/cascade_classifier.rst
@@ -22,7 +22,7 @@ Theory
 Code
 ====

-This tutorial code's is shown lines below. You can also download it from `here <https://code.ros.org/svn/opencv/trunk/opencv/samples/cpp/tutorial_code/objectDetection/objectDetection.cpp>`_ . The second version (using LBP for face detection) can be found `here <https://code.ros.org/svn/opencv/trunk/opencv/samples/cpp/tutorial_code/objectDetection/objectDetection2.cpp>`_ 
+This tutorial code's is shown lines below. You can also download it from `here <https://code.ros.org/svn/opencv/trunk/opencv/samples/cpp/tutorial_code/objectDetection/objectDetection.cpp>`_ . The second version (using LBP for face detection) can be `found here <https://code.ros.org/svn/opencv/trunk/opencv/samples/cpp/tutorial_code/objectDetection/objectDetection2.cpp>`_ 

 .. code-block:: cpp 

@@ -63,13 +63,13 @@ This tutorial code's is shown lines below. You can also download it from `here <
     {
       while( true )
       {
-	 frame = cvQueryFrame( capture );
+     frame = cvQueryFrame( capture );
  
- 	 //-- 3. Apply the classifier to the frame
-      	 if( !frame.empty() )
-       	 { detectAndDisplay( frame ); }
-      	 else
-       	 { printf(" --(!) No captured frame -- Break!"); break; }
+     //-- 3. Apply the classifier to the frame
+         if( !frame.empty() )
+         { detectAndDisplay( frame ); }
+         else
+         { printf(" --(!) No captured frame -- Break!"); break; }
      
         int c = waitKey(10);
         if( (char)c == 'c' ) { break; } 

--- a/samples/cpp/tutorial_code/calib3d/camera_calibration/VID5.xml
+++ b/samples/cpp/tutorial_code/calib3d/camera_calibration/VID5.xml
+<?xml version="1.0"?>
+<opencv_storage>
+<images>
+images/CameraCalibraation/VID5/xx1.jpg
+images/CameraCalibraation/VID5/xx2.jpg
+images/CameraCalibraation/VID5/xx3.jpg
+images/CameraCalibraation/VID5/xx4.jpg
+images/CameraCalibraation/VID5/xx5.jpg
+images/CameraCalibraation/VID5/xx6.jpg
+images/CameraCalibraation/VID5/xx7.jpg
+images/CameraCalibraation/VID5/xx8.jpg
+</images>
+</opencv_storage>
\ No newline at end of file
--- a/samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
+++ b/samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
--- a/samples/cpp/tutorial_code/calib3d/camera_calibration/in_VID5.xml
+++ b/samples/cpp/tutorial_code/calib3d/camera_calibration/in_VID5.xml
+<?xml version="1.0"?>
+<opencv_storage>
+<Settings>
+  <!-- Number of inner corners per a item row and column. (square, circle) -->
+  <BoardSize_Width> 9</BoardSize_Width>
+  <BoardSize_Height>6</BoardSize_Height>
+  
+  <!-- The size of a square in some user defined metric system (pixel, millimeter)-->
+  <Square_Size>50</Square_Size>
+  
+  <!-- The type of input used for camera calibration. One of: CHESSBOARD CIRCLES_GRID ASYMMETRIC_CIRCLES_GRID -->
+  <Calibrate_Pattern>"CHESSBOARD"</Calibrate_Pattern>
+  
+  <!-- The input to use for calibration. 
+		To use an input camera -> give the ID of the camera, like "1"
+		To use an input video  -> give the path of the input video, like "/tmp/x.avi"
+		To use an image list   -> give the path to the XML or YAML file containing the list of the images, like "/tmp/circles_list.xml"
+		-->
+  <Input>"images/CameraCalibraation/VID5/VID5.xml"</Input>
+  <!--  If true (non-zero) we flip the input images around the horizontal axis.-->
+  <Input_FlipAroundHorizontalAxis>0</Input_FlipAroundHorizontalAxis>
+  
+  <!-- Time delay between frames in case of camera. -->
+  <Input_Delay>100</Input_Delay>	
+  
+  <!-- How many frames to use, for calibration. -->
+  <Calibrate_NrOfFrameToUse>25</Calibrate_NrOfFrameToUse>
+  <!-- Consider only fy as a free parameter, the ratio fx/fy stays the same as in the input cameraMatrix. 
+	   Use or not setting. 0 - False Non-Zero - True-->
+  <Calibrate_FixAspectRatio> 1 </Calibrate_FixAspectRatio>
+  <!-- If true (non-zero) tangential distortion coefficients  are set to zeros and stay zero.-->
+  <Calibrate_AssumeZeroTangentialDistortion>1</Calibrate_AssumeZeroTangentialDistortion>
+  <!-- If true (non-zero) the principal point is not changed during the global optimization.-->
+  <Calibrate_FixPrincipalPointAtTheCenter> 1 </Calibrate_FixPrincipalPointAtTheCenter>
+  
+  <!-- The name of the output log file. -->
+  <Write_outputFileName>"out_camera_data.xml"</Write_outputFileName>
+  <!-- If true (non-zero) we write to the output file the feature points.-->
+  <Write_DetectedFeaturePoints>1</Write_DetectedFeaturePoints>
+  <!-- If true (non-zero) we write to the output file the extrinsic camera parameters.-->
+  <Write_extrinsicParameters>1</Write_extrinsicParameters>
+  <!-- If true (non-zero) we show after calibration the undistorted images.-->
+  <Show_UndistortedImage>1</Show_UndistortedImage>
+ 
+</Settings>
+</opencv_storage>
\ No newline at end of file
--- a/samples/cpp/tutorial_code/calib3d/camera_calibration/out_camera_data.yml
+++ b/samples/cpp/tutorial_code/calib3d/camera_calibration/out_camera_data.yml
+%YAML:1.0
+calibration_Time: "08/19/11 20:44:38"
+nrOfFrames: 8
+image_Width: 640
+image_Height: 480
+board_Width: 9
+board_Height: 6
+square_Size: 50.
+FixAspectRatio: 1.
+# flags:  +fix_aspectRatio +fix_principal_point +zero_tangent_dist
+flagValue: 14
+Camera_Matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 6.5746697810243404e+002, 0., 3.1950000000000000e+002, 0.,
+       6.5746697810243404e+002, 2.3950000000000000e+002, 0., 0., 1. ]
+Distortion_Coefficients: !!opencv-matrix
+   rows: 5
+   cols: 1
+   dt: d
+   data: [ -4.1802327018241026e-001, 5.0715243805833121e-001, 0., 0.,
+       -5.7843596847939704e-001 ]
+Avg_Reprojection_Error: 3.8441346462381665e-001
+Per_View_Reprojection_Errors: !!opencv-matrix
+   rows: 8
+   cols: 1
+   dt: f
+   data: [ 5.04357755e-001, 4.85754758e-001, 3.99563968e-001,
+       4.13829178e-001, 3.53570908e-001, 3.21116358e-001,
+       2.74473161e-001, 2.39761785e-001 ]
+# a set of 6-tuples (rotation vector + translation vector) for each view
+Extrinsic_Parameters: !!opencv-matrix
+   rows: 8
+   cols: 6
+   dt: d
+   data: [ -7.8704123655486097e-002, -1.5922384772614945e-001,
+       3.1166227207451498e+000, 2.4224388101960471e+002,
+       1.1795590397660339e+002, 6.2576484126093249e+002,
+       -1.4117480285164308e-001, -1.7917415443804836e-002,
+       3.1333182268743949e+000, 2.5943034781849354e+002,
+       1.4039780562976958e+002, 6.3848706527260981e+002,
+       7.2230525186138789e-002, -7.5445981266787754e-002,
+       1.5712860749221762e+000, 1.7426560451795339e+002,
+       -1.9309240362258871e+002, 7.0891416556762647e+002,
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