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@@ -16,6 +16,14 @@ Extrinsic calibration consists of following steps:
* Points are estimated with median 3d point of triangulations.
* Bundle adjustment is performed on initial points and poses.
### Options
**Cauchy loss*. Use Cauchy loss in bundle adjustment instead of squared loss (default: no).
**Freeze all intrinsic parameters*. Intrinsic parameters are not optimized during bundle adjustment and stay fixed. Subset of intrinsic parameters may also be selected with *fix focal length/principal point/distortion coefficients* options. Intrinsic parameters should be optimized only if there is larger number of input images.
**Assume zero distortion*. Distortion coefficients are set to zero.
**Rational distortion model.* Rational distortion coefficients k4, $k5 and k6 are used.
* Use existing extrinsic parameters. Use existing calibration to triangulate points and as initial values to bundle adjustment.
* Fix extrinsic parameters. Do not optimize extrinsic parameters for selected cameras.
# Attachments
* Camera calibration implementation documentation (out of date) [camera_calibration.pdf](uploads/0e847c707912f0cac52b6098cf99fdf2/camera_calibration.pdf)
