Package boofcv.alg.geo.selfcalib

Class SelfCalibrationLinearRotationSingle

java.lang.Object

boofcv.alg.geo.selfcalib.SelfCalibrationLinearRotationSingle

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 [1].

 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.
 

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

Constructor Summary

Constructors

Constructor	Description
SelfCalibrationLinearRotationSingle()

Method Summary

Modifier and Type	Method	Description
protected void	add(int which, Homography2D_F64 H, DMatrixRMaj A)	Adds the linear system defined by H into A and B
static void	ensureDeterminantOfOne(List<Homography2D_F64> homography0toI)	Scales all homographies so that their determinants are equal to one
boolean	estimate(List<Homography2D_F64> viewsI_to_view0, CameraPinhole calibration)	Assumes that the camera parameter are constant

Methods inherited from class java.lang.Object

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

Constructor Details

SelfCalibrationLinearRotationSingle

public SelfCalibrationLinearRotationSingle()

Method Details

estimate

public boolean estimate(List<Homography2D_F64> viewsI_to_view0,
 CameraPinhole calibration)

Assumes that the camera parameter are constant

Parameters:

viewsI_to_view0 - (Input) List of observed homographies. Modified so that determinant is one.

calibration - (Output) found calibration

Returns:

true if successful

ensureDeterminantOfOne

public static void ensureDeterminantOfOne(List<Homography2D_F64> homography0toI)

Scales all homographies so that their determinants are equal to one

add

protected void add(int which,
 Homography2D_F64 H,
 DMatrixRMaj A)

Adds the linear system defined by H into A and B

Parameters:

which - index of H in the list