Camera Parameters: Difference between revisions
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==Intrinsics== | ==Intrinsics== | ||
The is the projection matrix which turns camera coordinates to image coordinates. | |||
It consists of the following: | |||
* Focal Length \(f\) | |||
* Image Center \(\mathbf{o} = (o_x, o_y)\) | |||
* Size of pixels \(\mathbf{s} = (s_x, s_y)\) | |||
The formula for this matrix is: | |||
\[ | |||
\begin{equation} | |||
M_{int} = | |||
\begin{bmatrix} | |||
-f/s_x & 0 & o_x\\ | |||
0 & -f/s_y & o_y\\ | |||
0 & 0 & 1 | |||
\end{bmatrix} | |||
\end{equation} | |||
\] | |||
==Extrinsics== | ==Extrinsics== | ||
Revision as of 18:36, 18 June 2020
Camera Parameters
Intrinsics
The is the projection matrix which turns camera coordinates to image coordinates.
It consists of the following:
- Focal Length \(f\)
- Image Center \(\mathbf{o} = (o_x, o_y)\)
- Size of pixels \(\mathbf{s} = (s_x, s_y)\)
The formula for this matrix is: \[ \begin{equation} M_{int} = \begin{bmatrix} -f/s_x & 0 & o_x\\ 0 & -f/s_y & o_y\\ 0 & 0 & 1 \end{bmatrix} \end{equation} \]