Class EstimatePlaneAtInfinityGivenK

java.lang.Object
boofcv.alg.geo.selfcalib.EstimatePlaneAtInfinityGivenK

public class EstimatePlaneAtInfinityGivenK
extends Object
If the camera calibration is known for two views then given canonical camera projection matrices (P1 = [I|0]) it is possible to compute the plane a infinity and from that elevate the views from projective to metric. The solution returned is only approximate.

  • Gherardi, Riccardo, and Andrea Fusiello. "Practical autocalibration." European Conference on Computer Vision. Springer, Berlin, Heidelberg, 2010.
    • Constructor Details

      • EstimatePlaneAtInfinityGivenK

        public EstimatePlaneAtInfinityGivenK()
    • Method Details

      • setCamera1

        public void setCamera1​(double fx, double fy, double skew, double cx, double cy)
        Specifies known intrinsic parameters for view 1
      • setCamera2

        public void setCamera2​(double fx, double fy, double skew, double cx, double cy)
        Specifies known intrinsic parameters for view 2
      • estimatePlaneAtInfinity

        public boolean estimatePlaneAtInfinity​(DMatrixRMaj P2, Vector3D_F64 v)
        Computes the plane at infinity
        Parameters:
        P2 - (Input) projective camera matrix for view 2. Not modified.
        v - (Output) plane at infinity
        Returns:
        true if successful or false if it failed