Camera Parameters: Difference between revisions
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It consists of the following: | It consists of the following: | ||
* Focal Length \(f\) | * Focal Length \(f\) - this determines the field of view. | ||
* Image Center \(\mathbf{o} = (o_x, o_y)\) | * Image Center \(\mathbf{o} = (o_x, o_y)\) (also known as principal point) | ||
* Size of pixels \(\mathbf{s} = (s_x, s_y)\) | * Size of pixels \(\mathbf{s} = (s_x, s_y)\) (based on the resolution) | ||
* Axis skew \(s\) typically 0 | * Axis skew \(s\) typically 0 | ||
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M_{int} = | M_{int} = | ||
\begin{bmatrix} | \begin{bmatrix} | ||
f/s_x & s & o_x\\ | |||
0 & | 0 & f/s_x & o_y\\ | ||
0 & 0 & 1 | 0 & 0 & 1 | ||
\end{bmatrix} | \end{bmatrix} | ||
| Line 27: | Line 27: | ||
M_{int} = | M_{int} = | ||
\begin{bmatrix} | \begin{bmatrix} | ||
128/256 & 0 & 128/256\\ | |||
0 & | 0 & 128/256 & 128/256\\ | ||
0 & 0 & 1 | 0 & 0 & 1 | ||
\end{bmatrix} | \end{bmatrix} | ||
\end{equation} | \end{equation} | ||
\] | \] | ||
;Note you can also write <math>f/s_x</math> as <math>f_x</math>, and similar for <math>f_y</math>. | |||
==Extrinsics== | ==Extrinsics== | ||