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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of camera</title> <meta name="keywords" content="camera"> <meta name="description" content="CAMERA Camera imaging model"> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 2003 Guillaume Flandin"> <meta name="robots" content="index, follow"> <link type="text/css" rel="stylesheet" href="../m2html.css"></head><body><a name="_top"></a><div><a href="../index.html">Home</a> > <a href="#">simulink</a> > camera.m</div><!--<table width="100%"><tr><td align="left"><a href="../index.html"><img alt="<" border="0" src="../left.png"> Master index</a></td><td align="right"><a href="index.html">Index for ./simulink <img alt=">" border="0" src="../right.png"></a></td></tr></table>--><h1>camera</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>CAMERA Camera imaging model</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>function uv = camera(C, p, Tobj, Tcam) </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="fragment"><pre class="comment">CAMERA Camera imaging model uv = CAMERA(C, p) uv = CAMERA(C, p, T) Implement the perspective, scaling and offset encapsulated in the camera calibration matrix C. P is a list of 3D world points and the corresponding image plane points are returned in UV. The data in P is one point per row in X, Y, Z order. T is a homogeneous transformation of the object coordinate frame wrt to the camera coordinate frame, and can be used to transform the points prior to imaging. SEE ALSO: <a href="gcamera.html" class="code" title="function ovar = gcamera(a1, a2, a3, a4)">gcamera</a>, camcalp, pulnix Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab</pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2>This function calls:<ul style="list-style-image:url(../matlabicon.gif)"></ul>This function is called by:<ul style="list-style-image:url(../matlabicon.gif)"><li><a href="gcamera.html" class="code" title="function ovar = gcamera(a1, a2, a3, a4)">gcamera</a> GCAMERA graphical camera model</li></ul><!-- crossreference --><h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="fragment"><pre>0001 <span class="comment">%CAMERA Camera imaging model</span>0002 <span class="comment">%</span>0003 <span class="comment">% uv = CAMERA(C, p)</span>0004 <span class="comment">% uv = CAMERA(C, p, T)</span>0005 <span class="comment">%</span>0006 <span class="comment">% Implement the perspective, scaling and offset encapsulated in the</span>0007 <span class="comment">% camera calibration matrix C. P is a list of 3D world points and</span>0008 <span class="comment">% the corresponding image plane points are returned in UV.</span>0009 <span class="comment">% The data in P is one point per row in X, Y, Z order.</span>0010 <span class="comment">%</span>0011 <span class="comment">% T is a homogeneous transformation of the object coordinate frame</span>0012 <span class="comment">% wrt to the camera coordinate frame, and can be used to transform</span>0013 <span class="comment">% the points prior to imaging.</span>0014 <span class="comment">%</span>0015 <span class="comment">% SEE ALSO: gcamera, camcalp, pulnix</span>0016 <span class="comment">%</span>0017 <span class="comment">% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab</span>0018 0019 <span class="comment">% pic 1993</span>0020 <a name="_sub0" href="#_subfunctions" class="code">function uv = camera(C, p, Tobj, Tcam)</a>0021 0022 np = numrows(p);0023 0024 <span class="comment">% do the camera perspective transform</span>0025 0026 p = [p'; ones(1, np)];0027 0028 <span class="comment">% optionally transform all the points</span>0029 <span class="keyword">switch</span> nargin,0030 <span class="keyword">case</span> 3,0031 Tcam = eye(4,4);0032 <span class="keyword">case</span> 2,0033 Tcam = eye(4,4);0034 Tobj = eye(4,4);0035 <span class="keyword">end</span>0036 p = inv(Tcam)*Tobj * p;0037 0038 x = C * p; <span class="comment">% camera transform</span>0039 iXY = x(1:2,:) ./ [x(3,:); x(3,:)];0040 uv = iXY';</pre></div><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> © 2003</address></body></html>⌨️ 快捷键说明
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