Camera Calibration
Toolbox for Matlab
Description of the calibration
parameters
After calibration, the list of parameters may be stored in the matab
file Calib_Results by clicking on Save. The list of variables may be
separated into two categories: Intrinsic parameters and extrinsic parameters.
Intrinsic parameters (camera model):
The internal camera model is very similar to that used
by Heikkil� and Silven at the University of Oulu in Finland. Visit their
online calibration page, and their publication page. We specifically
recommend their CVPR'97 paper: A Four-step Camera Calibration
Procedure with Implicit Image Correction.
The list of internal parameters:
Focal length: The focal length in pixels is stored in the 2x1 vector fc.
Principal point: The principal point coordinates are stored in the 2x1
vector cc.
Skew coefficient: The skew coefficient defining the angle between the
x and y pixel axes is stored in the scalar alpha_c.
Distortions: The image distortion coefficients (radial and tangential
distortions) are stored in the 5x1 vector kc.
Definition of the intrinsic parameters:
Let P be a point in space of coordinate vector XX
c
= [X
c
;Y
c
;Z
c
] in the
camera reference frame.
Let us project now that point on the image plane according to the intrinsic
parameters (fc,cc,alpha_c,kc).
评论1