/**
* After calibration points have been found this invokes the Zhang99 algorithm to estimate
* calibration parameters. Error statistics are also computed.
*/
public IntrinsicParameters process() {
if (zhang99 == null) throw new IllegalArgumentException("Please call configure first.");
if (!zhang99.process(observations)) {
throw new RuntimeException("Zhang99 algorithm failed!");
}
foundZhang = zhang99.getOptimized();
errors = computeErrors(observations, foundZhang, detector.getLayout());
foundIntrinsic = foundZhang.convertToIntrinsic();
foundIntrinsic.width = widthImg;
foundIntrinsic.height = heightImg;
return foundIntrinsic;
}
private void setDefaultIntrinsicParameter(int height, int width, double fovYinRadian) {
double f = height / 2.0 / Math.tan(fovYinRadian / 2.0);
intrinsicParameters = new IntrinsicParameters();
intrinsicParameters.width = width;
intrinsicParameters.height = height;
intrinsicParameters.cx = width / 2;
intrinsicParameters.cy = height / 2;
intrinsicParameters.fx = f;
intrinsicParameters.fy = f;
}