Package boofcv.alg.geo.selfcalib

Class SelfCalibrationBase

java.lang.Object

boofcv.alg.geo.selfcalib.SelfCalibrationBase

Direct Known Subclasses:

SelfCalibrationLinearDualQuadratic

public class SelfCalibrationBase
extends Object

view[0] is assumed to the located at coordinate system's origin.

w^* = P Q^*_∞P^T

TODO Describe TODO constant internal parameters TODO aspect ratio and known skew TODO

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SelfCalibrationBase.Projective

Constructor Summary

Constructors

Constructor	Description
SelfCalibrationBase()

Method Summary

Modifier and Type	Method	Description
void	addCameraMatrix(List<DMatrixRMaj> viewI_to_view0)
void	addCameraMatrix(DMatrixRMaj viewI)	Adds a projective transform which describes the relationship between a 3D point viewed in the view[i] and a projection viewed by a camera located at the origin.
void	computeW(SelfCalibrationBase.Projective P, DMatrix4x4 Q, DMatrixRMaj w_i)
static void	encodeQ(DMatrix4x4 Q, double[] param)
int	getMinimumProjectives()	Minimum number of cameras required to estimate the parameters.

Methods inherited from class java.lang.Object

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

Constructor Details

SelfCalibrationBase

public SelfCalibrationBase()

Method Details

addCameraMatrix

public void addCameraMatrix(DMatrixRMaj viewI)

Adds a projective transform which describes the relationship between a 3D point viewed in the view[i] and a projection viewed by a camera located at the origin. The projective is defined as P[i]=[A[i] | a[i]] where P is 3 by 4 matrix.

Parameters:

viewI - projective matrix representing the transform from the current camera to the coordinate system's origin. 3 x 4. A copy is saved internally.

addCameraMatrix

public void addCameraMatrix(List<DMatrixRMaj> viewI_to_view0)

encodeQ

public static void encodeQ(DMatrix4x4 Q,
 double[] param)

computeW

public void computeW(SelfCalibrationBase.Projective P,
 DMatrix4x4 Q,
 DMatrixRMaj w_i)

getMinimumProjectives

public int getMinimumProjectives()

Minimum number of cameras required to estimate the parameters.