DERS5.1/VSRS3.5--相机参数说明
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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 andtshall 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 matrixR 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
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