public class SelfCalibrationLinearRotationSingle extends Object
Camera calibration for when the camera's motion is purely rotational and has no translational component and camera parameters are assumed to be constant. All five camera parameters are estimated and no constraints can be specified. Based off of constant calibration Algorithm 19.3 on page 482 in .
Steps: 1) Compute homographies between view i and reference frame, i.e. xi = Hix, ensure det(H)=1 2) Write equation w=(Hi)-Tw(i)-1 as A*x=0, where A = 6m by 6 matrix. 3) Compute K using Cholesky decomposition w = U*UT. Actually implemented as an algebraic formula.
- R. Hartley, and A. Zisserman, "Multiple View Geometry in Computer Vision", 2nd Ed, Cambridge 2003
Constructors Constructor Description
Modifier and Type Method Description
Homography2D_F64 H, DMatrixRMaj A)(int which,Adds the linear system defined by H into A and B
List<Homography2D_F64> homography0toI)(Scales all homographies so that their determinants are equal to one
List<Homography2D_F64> viewsI_to_view0, CameraPinhole calibration)(Assumes that the camera parameter are constant
estimateAssumes that the camera parameter are constant
viewsI_to_view0- (Input) List of observed homographies. Modified so that determinant is one.
calibration- (Output) found calibration
- true if successful
ensureDeterminantOfOneScales all homographies so that their determinants are equal to one
addAdds the linear system defined by H into A and B
which- index of H in the list