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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 camcalp_c</title> <meta name="keywords" content="camcalp_c"> <meta name="description" content="CAMCALP_C Camera calibration matrix from parameters (central projection)"> <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> > camcalp_c.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>camcalp_c</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>CAMCALP_C Camera calibration matrix from parameters (central projection)</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 C = camcalp(cp, A, B, C) </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">CAMCALP_C Camera calibration matrix from parameters (central projection) C = CAMCALP_C(cp) C = CAMCALP_C(cp, Tcam) C = CAMCALP_C(cp, pC, x, z) Compute a 3x4 camera calibration matrix from given camera intrinsic and extrinsic parameters. CP is a camera parameter vector comprising: cp(1) f, the focal length of the lens (m) cp(2:3) alpha is a 2-element vector of horizontal and vertical pixel pitch of the sensor (pixels/m) cp(4:5) p0 is a 2-element vector of principal point (u0, v0) in pixels, If length(cp) == 3, then p0 defaults to (0,0) Tcam is the pose of the camera wrt the world frame, defaults to identity matrix if not given (optical axis along Z-axis). Alternatively the camera pose can be given by specifying the coordinates of the center, pC, and unit vectors for the camera's x-axis and z-axis (optical axis). This camera calibration matrix is for the central projection as commonly used in computer vision literature where the focal point is at z=0, and rays pass through the image plane at z=f. This model has no image inversion. f, alphax and alphay are commonly known as the intrinsic camera parameters. Tcam is commonly known as the extrinsic camera parameters. NOTE: that this calibration matrix includes the lens image inversion, so that the camera coordinate system is: 0------------------> X | | | + (principal point) | | v SEE ALSO: camcalp, <a href="camera.html" class="code" title="function uv = camera(C, p, Tobj, Tcam)">camera</a>, 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)"></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">%CAMCALP_C Camera calibration matrix from parameters (central projection)</span>0002 <span class="comment">%</span>0003 <span class="comment">% C = CAMCALP_C(cp)</span>0004 <span class="comment">% C = CAMCALP_C(cp, Tcam)</span>0005 <span class="comment">% C = CAMCALP_C(cp, pC, x, z)</span>0006 <span class="comment">%</span>0007 <span class="comment">% Compute a 3x4 camera calibration matrix from given camera intrinsic</span>0008 <span class="comment">% and extrinsic parameters.</span>0009 <span class="comment">% CP is a camera parameter vector comprising:</span>0010 <span class="comment">% cp(1) f, the focal length of the lens (m)</span>0011 <span class="comment">% cp(2:3) alpha is a 2-element vector of horizontal and</span>0012 <span class="comment">% vertical pixel pitch of the sensor (pixels/m)</span>0013 <span class="comment">% cp(4:5) p0 is a 2-element vector of principal point (u0, v0)</span>0014 <span class="comment">% in pixels,</span>0015 <span class="comment">% If length(cp) == 3, then p0 defaults to (0,0)</span>0016 <span class="comment">%</span>0017 <span class="comment">% Tcam is the pose of the camera wrt the world frame, defaults to</span>0018 <span class="comment">% identity matrix if not given (optical axis along Z-axis).</span>0019 <span class="comment">%</span>0020 <span class="comment">% Alternatively the camera pose can be given by specifying the coordinates</span>0021 <span class="comment">% of the center, pC, and unit vectors for the camera's x-axis and</span>0022 <span class="comment">% z-axis (optical axis).</span>0023 <span class="comment">%</span>0024 <span class="comment">% This camera calibration matrix is for the central projection as</span>0025 <span class="comment">% commonly used in computer vision literature where the focal point</span>0026 <span class="comment">% is at z=0, and rays pass through the image plane at z=f. This model</span>0027 <span class="comment">% has no image inversion.</span>0028 <span class="comment">%</span>0029 <span class="comment">% f, alphax and alphay are commonly known as the intrinsic camera</span>0030 <span class="comment">% parameters. Tcam is commonly known as the extrinsic camera parameters.</span>0031 <span class="comment">%</span>0032 <span class="comment">% NOTE: that this calibration matrix includes the lens image inversion, so</span>0033 <span class="comment">% that the camera coordinate system is:</span>0034 <span class="comment">%</span>0035 <span class="comment">% 0------------------> X</span>0036 <span class="comment">% |</span>0037 <span class="comment">% |</span>0038 <span class="comment">% | + (principal point)</span>0039 <span class="comment">% |</span>0040 <span class="comment">% |</span>0041 <span class="comment">% v</span>0042 <span class="comment">%</span>0043 <span class="comment">% SEE ALSO: camcalp, camera, pulnix</span>0044 <span class="comment">%</span>0045 <span class="comment">% Copyright (c) Peter Corke, 1999 Machine Vision Toolbox for Matlab</span>0046 0047 <a name="_sub0" href="#_subfunctions" class="code">function C = camcalp(cp, A, B, C)</a>0048 f = cp(1);0049 alpha = cp(2:3);0050 <span class="keyword">if</span> length(cp) <=3,0051 p0 = [ 0 0];0052 <span class="keyword">else</span>0053 p0 = cp(4:5);0054 <span class="keyword">end</span>0055 <span class="keyword">if</span> nargin == 1,0056 Tcam = eye(4);0057 <span class="keyword">elseif</span> nargin == 2,0058 Tcam = A;0059 <span class="keyword">elseif</span> nargin == 4,0060 pC = A(:);0061 x = unit(B(:));0062 z = unit(C(:));0063 <span class="keyword">if</span> abs(dot(x,z)) > 1e-10,0064 error(<span class="string">'x and z vectors should be orthogonal'</span>);0065 <span class="keyword">end</span>0066 R=[x unit(cross(z,x)) z];0067 0068 Tcam = transl(pC) * [R zeros(3,1); 0 0 0 1];0069 <span class="keyword">end</span>0070 0071 C = [ alpha(1) 0 p0(1) 0; 0072 0 alpha(2) p0(2) 0;0073 0 0 1 00074 ] * [ 1 0 0 0;0075 0 1 0 0;0076 0 0 1/f 0;0077 0 0 0 1] * inv(Tcam);</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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