next up previous
Next: Degenerate cases Up: Affine-to-Euclidean calibration Previous: Resolution of eq:kkt

General resolution

If the matrix does not have one of the forms expressed in 3.1.2, the system can then be solved :

if the constraint r=0 is used, the intrinsic parameters are uniquely defined. if the constraint is chosen, there are 2 sets of solutions : they correspond to the 2 solutions of a second degree equation. We keep only the one with smallest |r|.

Now consider the degenerate cases.

Bob Fisher
Mon Dec 7 13:48:06 GMT 1998