Class Summary Class Description EstimatePlaneAtInfinityGivenKIf 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. RefineDualQuadraticAlgebraNon-linear optimization on camera parameters for each view and for the plane at infinity. SelfCalibrationBaseview is assumed to the located at coordinate system's origin. SelfCalibrationBase.Projective SelfCalibrationGuessAndCheckFocusComputes the best projective to metric 4x4 rectifying homography matrix by guessing different values for focal lengths of the first two views. SelfCalibrationLinearDualQuadraticComputes intrinsic calibration matrix for each view using projective camera matrices to compute the the dual absolute quadratic (DAQ) and by assuming different elements in the 3x3 calibration matrix have linear constraints. SelfCalibrationLinearDualQuadratic.Intrinsic SelfCalibrationLinearRotationMultiCamera calibration for when the camera's motion is purely rotational and has no translational component and camera parameters can change every frame. SelfCalibrationLinearRotationSingleCamera calibration for when the camera's motion is purely rotational and has no translational component and camera parameters are assumed to be constant.