cam_mat_to_cam_parT_cam_mat_to_cam_parCamMatToCamParCamMatToCamParcam_mat_to_cam_par (Operator)

Name

cam_mat_to_cam_parT_cam_mat_to_cam_parCamMatToCamParCamMatToCamParcam_mat_to_cam_par — 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_parCamMatToCamParCamMatToCamParCamMatToCamParcam_mat_to_cam_par computes internal camera parameters from the camera matrix CameraMatrixCameraMatrixCameraMatrixCameraMatrixcameraMatrixcamera_matrix, the radial distortion coefficient KappaKappaKappaKappakappakappa, the image width ImageWidthImageWidthImageWidthImageWidthimageWidthimage_width, and the image height ImageHeightImageHeightImageHeightImageHeightimageHeightimage_height. The camera parameters are returned in CameraParamCameraParamCameraParamCameraParamcameraParamcamera_param. The parameters CameraMatrixCameraMatrixCameraMatrixCameraMatrixcameraMatrixcamera_matrix and KappaKappaKappaKappakappakappa can be determined with stationary_camera_self_calibrationstationary_camera_self_calibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibrationstationary_camera_self_calibration. cam_mat_to_cam_parcam_mat_to_cam_parCamMatToCamParCamMatToCamParCamMatToCamParcam_mat_to_cam_par converts this representation of the internal camera parameters into the representation used by camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationCameraCalibrationcamera_calibration. The conversion can only be performed if the skew of the image axes is set to 0 in stationary_camera_self_calibrationstationary_camera_self_calibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibrationstationary_camera_self_calibration, i.e., if the parameter 'skew'"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

CameraMatrixCameraMatrixCameraMatrixCameraMatrixcameraMatrixcamera_matrix (input_control) hom_mat2d → (real)

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

KappaKappaKappaKappakappakappa (input_control) number → (real)

Kappa.

ImageWidthImageWidthImageWidthImageWidthimageWidthimage_width (input_control) extent.x → (integer)

Width of the images that correspond to CameraMatrixCameraMatrixCameraMatrixCameraMatrixcameraMatrixcamera_matrix.

Restriction: ImageWidth > 0

ImageHeightImageHeightImageHeightImageHeightimageHeightimage_height (input_control) extent.y → (integer)

Height of the images that correspond to CameraMatrixCameraMatrixCameraMatrixCameraMatrixcameraMatrixcamera_matrix.

Restriction: ImageHeight > 0

CameraParamCameraParamCameraParamCameraParamcameraParamcamera_param (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_parCamMatToCamParCamMatToCamParCamMatToCamParcam_mat_to_cam_par returns the value TRUE. If necessary an exception is raised.

Possible Predecessors

stationary_camera_self_calibrationstationary_camera_self_calibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibrationStationaryCameraSelfCalibrationstationary_camera_self_calibration

Module

Calibration

Operators