| Direct linear calibration |
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| Advantages: |
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| • | Very simple to
formulate and solve |
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| • | Once you know the
projection matrix, can compute intrinsics |
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| and extrinsics
using matrix factorizations |
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| Disadvantages? |
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| • | Doesn’t model
radial distortion |
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| • | Hard to impose
constraints (e.g., known focal length) |
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| • | Doesn’t minimize
the right error function |
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