Package boofcv.alg.geo.selfcalib

Class SelfCalibrationLinearRotationMulti

java.lang.Object

boofcv.alg.geo.selfcalib.SelfCalibrationLinearRotationMulti

public class SelfCalibrationLinearRotationMulti
extends Object

Camera calibration for when the camera's motion is purely rotational and has no translational component and camera parameters can change every frame. Linear constraints need to be specified on camera parameters. Based off of variable calibration Algorithm 19.3 on page 482 in [1].

 Steps:
 1) Compute homographies between view i and reference frame, i.e. xi = Hix, ensure det(H)=1
 2) Uses equation wi=(Hi)-Tw(i)-1 to express linear constraints
 3) Compute K using Cholesky decomposition w = U*UT. Actually implemented as an algebraic formula.
 

There will be a sign ambiguity in the returned result for the translation vector. That can be resolved by checking for positive depth of triangulated features.

1. R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003

Constructor Summary

Constructors

Constructor	Description
SelfCalibrationLinearRotationMulti()

Method Summary

Modifier and Type	Method	Description
boolean	computeInverseH(List<Homography2D_F64> homography0toI)	Ensures the determinant is one then inverts the homogrpahy
GeometricResult	estimate(List<Homography2D_F64> viewsI_to_view0)	Assumes that the camera parameter are constant
DogArray<CameraPinhole>	getFound()
int	numberOfConstraints()	Number of constraints which are applied by each view
void	setConstraints(boolean zeroSkew, boolean principlePointOrigin, boolean knownAspect, double aspect)	Specifies linear constraints Known aspect ratio constraint can only be used if zero skew is also assumped.

Methods inherited from class java.lang.Object

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

Constructor Details

SelfCalibrationLinearRotationMulti

public SelfCalibrationLinearRotationMulti()

Method Details

setConstraints

public void setConstraints(boolean zeroSkew,
 boolean principlePointOrigin,
 boolean knownAspect,
 double aspect)

Specifies linear constraints Known aspect ratio constraint can only be used if zero skew is also assumped.

Parameters:

zeroSkew - Assume that skew is zero

principlePointOrigin - Principle point is at the origin

knownAspect - that the aspect ratio is known

aspect - If aspect is known then this is the aspect. ratio=fy/fx Ignored otherwise.

estimate

public GeometricResult estimate(List<Homography2D_F64> viewsI_to_view0)

Assumes that the camera parameter are constant

Parameters:

viewsI_to_view0 - (Input) List of observed homographies

Returns:

true if successful

numberOfConstraints

public int numberOfConstraints()

Number of constraints which are applied by each view

computeInverseH

public boolean computeInverseH(List<Homography2D_F64> homography0toI)

Ensures the determinant is one then inverts the homogrpahy

getFound

public DogArray<CameraPinhole> getFound()