Package boofcv.alg.geo.selfcalib

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 Summary

Constructors

Constructor	Description
EstimatePlaneAtInfinityGivenK()

Method Summary

Modifier and Type	Method	Description
boolean	estimatePlaneAtInfinity(DMatrixRMaj P2, Vector3D_F64 v)	Computes the plane at infinity
void	setCamera1(double fx, double fy, double skew, double cx, double cy)	Specifies known intrinsic parameters for view 1
void	setCamera2(double fx, double fy, double skew, double cx, double cy)	Specifies known intrinsic parameters for view 2

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

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