cam_mat_to_cam_parT_cam_mat_to_cam_parCamMatToCamParCamMatToCamPar (Operator)

Name

cam_mat_to_cam_parT_cam_mat_to_cam_parCamMatToCamParCamMatToCamPar — Compute the internal camera parameters from a camera matrix.

Signature

cam_mat_to_cam_par( : : CameraMatrix, Kappa, ImageWidth, ImageHeight : CameraParam)

Description

cam_mat_to_cam_parcam_mat_to_cam_parCamMatToCamParCamMatToCamParCamMatToCamPar computes internal camera parameters from the camera matrix CameraMatrixCameraMatrixCameraMatrixCameraMatrixcameraMatrix, the radial distortion coefficient KappaKappaKappaKappakappa, the image width ImageWidthImageWidthImageWidthImageWidthimageWidth, and the image height ImageHeightImageHeightImageHeightImageHeightimageHeight. The camera parameters are returned in CameraParamCameraParamCameraParamCameraParamcameraParam. The parameters CameraMatrixCameraMatrixCameraMatrixCameraMatrixcameraMatrix and KappaKappaKappaKappakappa can be determined with stationary_camera_self_calibrationstationary_camera_self_calibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibration. cam_mat_to_cam_parcam_mat_to_cam_parCamMatToCamParCamMatToCamParCamMatToCamPar converts this representation of the internal camera parameters into the representation used by camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibration. The conversion can only be performed if the skew of the image axes is set to 0 in stationary_camera_self_calibrationstationary_camera_self_calibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibration, i.e., if the parameter 'skew'"skew""skew""skew""skew" is not being determined.

Execution Information

Multithreading type: reentrant (runs in parallel with non-exclusive operators).
Multithreading scope: global (may be called from any thread).
Processed without parallelization.

Parameters

CameraMatrixCameraMatrixCameraMatrixCameraMatrixcameraMatrix (input_control) hom_mat2d → (real)

3x3 projective camera matrix that determines the internal camera parameters.

KappaKappaKappaKappakappa (input_control) number → (real)

Kappa.

ImageWidthImageWidthImageWidthImageWidthimageWidth (input_control) extent.x → (integer)

Width of the images that correspond to CameraMatrixCameraMatrixCameraMatrixCameraMatrixcameraMatrix.

Restriction: ImageWidth > 0

ImageHeightImageHeightImageHeightImageHeightimageHeight (input_control) extent.y → (integer)

Height of the images that correspond to CameraMatrixCameraMatrixCameraMatrixCameraMatrixcameraMatrix.

Restriction: ImageHeight > 0

CameraParamCameraParamCameraParamCameraParamcameraParam (output_control) campar → (real / integer / string)

Internal camera parameters.

Example (HDevelop)

* For the input data to stationary_camera_self_calibration, please
* refer to the example for stationary_camera_self_calibration.
stationary_camera_self_calibration (4, 640, 480, 1, From, To, \
                                    HomMatrices2D, Rows1, Cols1, \
                                    Rows2, Cols2, NumMatches, \
                                    'gold_standard', \
                                    ['focus','principal_point','kappa'], \
                                    'true', CameraMatrix, Kappa, \
                                    RotationMatrices, X, Y, Z, Error)
cam_mat_to_cam_par (CameraMatrix, Kappa, 640, 480, CameraParam)

Result

If the parameters are valid, the operator cam_mat_to_cam_parcam_mat_to_cam_parCamMatToCamParCamMatToCamParCamMatToCamPar returns the value 2 (H_MSG_TRUE). If necessary an exception is raised.

Possible Predecessors

stationary_camera_self_calibrationstationary_camera_self_calibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibration

Module

Calibration

Operators