Autocalibration

detail::focalsFromHomography

Tries to estimate focal lengths from the given homography under the assumption that the camera undergoes rotations around its centre only.

C++: void focalsFromHomography(const Mat& H, double& f0, double& f1, bool& f0_ok, bool& f1_ok)

Parameters:

• H – Homography.
• f0 – Estimated focal length along X axis.
• f1 – Estimated focal length along Y axis.
• f0_ok – True, if f0 was estimated successfully, false otherwise.
• f1_ok – True, if f1 was estimated successfully, false otherwise.

detail::estimateFocal

Estimates focal lengths for each given camera.

C++: void estimateFocal(const std::vector<ImageFeatures>& features, const std::vector<MatchesInfo>& pairwise_matches, std::vector<double>& focals)

Parameters:

• features – Features of images.
• pairwise_matches – Matches between all image pairs.
• focals – Estimated focal lengths for each camera.