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Solve calibration brim algorithm

The aim of the solve calibration brim algorithm is to initialize 3D points (and corresponding 2D image blob matches) for the points on the calibration brim, and also calculate initial estimates of the positions and orientations of the four cameras.

The algorithm takes as input a frame in the take containing:

❙       Blob detections, and

❙       A small number (4 or more) of brim points that you specified, which have been matched to blob detections across all four camera views.

The algorithm has three basic steps:

1.    Calculate an initial estimate for the four camera positions and orientations, using the brim correspondences you made.

2.    Look for additional matched blob detections across the four camera views, using the estimated camera positions and (known) 3D brim structure.

3.    Refine the camera positions, using all matched brim points.

If you provide four brim correspondences across the four camera views, this should be sufficient to enable the algorithm to work well.