DERS5.1/VSRS3.5--相机参数说明
Specification of Camera Parameters
Camera parameters shall be specified as
rotation matrixR, // 旋转矩阵/外部矩阵(外部参数)R
translation vectort, // 平移向量 t
intrinsic matrixA for each camera i. // 内部矩阵(内部参数)A
Values shall be given in floating point precision as accurate as possible.
The extrinsic camera parametersR and tshall be specified according to aright-handed coordinate system.
The upper left corner of an image shall be the origin for corresponding image/camera coordinates, i.e., the (0,0) coordinate, with all other corners of the image having non-negative coordinates.
The rotation matrix R(i) for i-th camera is represented as follows.
| r_11[i] |
r_12[i] |
r_13[i] |
| r_21[i] |
r_22[i] |
r_23[i] |
| r_31[i] |
r_32[i] |
r_33[i] |
The translation vectort(i) for i-th camera is represented as follows:
| t_1[i] |
| t_2[i] |
| t_3[i] |
The rotation matrixR and the translation vectort define the position and orientation of the corresponding camera with respect to the world coordinate system. The components of the rotation matrix R are function of the rotationsabout the three coordinate axes.
The intrinsic matrixA(i) for i-th camera is represented as follows:
| focal_length_x[i] |
radial_distortion[i] |
principal_point_x[i] |
| 0.0 |
focal_length_y[i] |
principal_point_y[i] |
| 0.0 |
0.0 |
1.0 |
focal_length_x[i] specifies the focal length of the i-th camerain the horizontal direction units of pixels. //像素点单元
focal_length_y[i] specifies the focal length of the i-th camerain the vertical direction in units of pixels. // 像素点单元
principal_point_x[i] specifies theprincipal point(中心) of the i-th camerain the horizontal direction units of pixels. // 像素点单元
principal_point_y[i] specifies theprincipal point(中心) of the i-th camerain the vertical direction in units of pixels. // 像素点单元
radial_distortion[i] specifies theradial distortion coefficient(径向畸变系数) of the i-th camera.
- Radial distortion coefficients are estimated up to first order
- Radial distortion centre is the same as the principal point.
- Tangential distortion coefficients(切向畸变系数) have not been estimated, they are to be assumed zero.
Example 9: Example camera parameter file
| ‘camera name of the 0th view’ focal_length_x[0] radial_distortion[0] principal_point_x[0] 0.0 focal_length_y[0] principal_point_y[0] 0.0 0.0 1.0 0.0 0.0 r_11[0] r_12[0] r_13[0] t_1[0] r_21[0] r_22[0] r_23[0] t_2[0] r_31[0] r_32[0] r_33[0] t_3[0]
‘camera name of the 1sr view’ focal_length_x[1] radial_distortion[1] principal_point_x[1] 0.0 focal_length_y[1] principal_point_y[1] 0.0 0.0 1.0 0.0 0.0 r_11[1] r_12[1] r_13[1] t_1[1] r_21[1] r_22[1] r_23[1] t_2[1] r_31[1] r_32[1] r_33[1] t_3[1]
‘camera name of the 2nd view’ focal_length_x[2] radial_distortion[2] principal_point_x[2] 0.0 focal_length_y[2] principal_point_y[2] 0.0 0.0 1.0 0.0 0.0 r_11[2] r_12[2] r_13[2] t_1[2] r_21[2] r_22[2] r_23[2] t_2[2] r_31[2] r_32[2] r_33[2] t_3[2] |
Example 10: Example camera parameter file “cam_param_dog.txt”
| param_dog37 2979.0 0.0 -170.905600 0.0 2979.0 452.7121 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 -125.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
param_dog38 2979.0 0.0 -152.788800 0.0 2979.0 452.7121 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 -75.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
param_dog39 2979.0 0.0 -134.672000 0.0 2979.0 452.7121 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 -25.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
param_dog40 2979.0 0.0 -116.555200 0.0 2979.0 452.7121 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 25.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
param_dog41 2979.0 0.0 -98.438400 0.0 2979.0 452.7121 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 75.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
param_dog42 2979.0 0.0 -80.321600 0.0 2979.0 452.7121 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 125.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
param_dog43 2979.0 0.0 -62.204800 0.0 2979.0 452.7121 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 175.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
param_dog44 2979.0 0.0 -44.088000 0.0 2979.0 452.7121 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 225.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
param_dog45 2979.0 0.0 -25.971200 0.0 2979.0 452.7121 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 275.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
param_dog46 2979.0 0.0 -7.854400 0.0 2979.0 452.7121 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 325.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
param_dog47 2979.0 0.0 10.262400 0.0 2979.0 452.7121 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 375.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
param_dog48 2979.0 0.0 28.379200 0.0 2979.0 452.7121 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 425.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
param_dog49 2979.0 0.0 46.496000 0.0 2979.0 452.7121 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 475.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
param_dog50 2979.0 0.0 64.612800 0.0 2979.0 452.7121 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 525.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 |