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Issues:
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what
are intrinsic parameters of
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the
camera?
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what
is the camera matrix?
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(intrinsic+extrinsic)
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General strategy:
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view
calibration object
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identify
image points
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obtain
camera matrix by
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minimizing
error
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obtain
intrinsic parameters from
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camera
matrix
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Error minimization:
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Linear
least squares
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easy problem numerically
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solution can be rather bad
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Minimize
image distance
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more difficult numerical
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problem
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solution usually rather good,
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but can be hard to find
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start with linear least
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squares
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Numerical
scaling is an issue
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