public < T extends CameraModel > T process ( ) { if ( zhang99 == null ) throw new IllegalArgumentException ( "Please call configure first." ) ; zhang99 . setVerbose ( verbose , 0 ) ; if ( ! zhang99 . process ( observations ) ) { throw new RuntimeException ( "Zhang99 algorithm failed!" ) ; } structure = zhang99 . getStructure ( ) ; errors = zhang99 . computeErrors ( ) ; foundIntrinsic = zhang99 . getCameraModel ( ) ; foundIntrinsic . width = imageWidth ; foundIntrinsic . height = imageHeight ; return ( T ) foundIntrinsic ; }
After calibration points have been found this invokes the Zhang99 algorithm to estimate calibration parameters . Error statistics are also computed .