zhang.cpp File Reference

#include "calib/estimation/linear/zhang.h"
#include <iostream>

Include dependency graph for zhang.cpp:

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Namespaces
namespace	calib
	Linear multi-camera extrinsics initialisation (DLT)

Functions
static auto	calib::zhang_bmtx (const Eigen::VectorXd &b) -> Eigen::Matrix3d
	Constructs B = K^{-T} K^{-1} from the 6-vector b.
static void	calib::check_conic_decomposition (const Eigen::Matrix3d &bmtx, const Eigen::Matrix3d &kmtx)
static auto	calib::kmtx_from_dual_conic (const Eigen::VectorXd &bv) -> std::optional< Eigen::Matrix3d >
static auto	calib::v_ij (const Eigen::Matrix3d &hmtx, int i, int j) -> Eigen::Matrix< double, 1, 6 >
static auto	calib::normalize_hmtx (const Eigen::Matrix3d &hmtx) -> Eigen::Matrix3d
static auto	calib::make_zhang_design_matrix (const std::vector< HomographyResult > &hs) -> std::optional< Eigen::MatrixXd >
auto	calib::zhang_intrinsics_from_hs (const std::vector< HomographyResult > &hs) -> std::optional< CameraMatrix >