Solving for camera parameters
Projection equation
•The
projection matrix models the cumulative effect of all parameters
•Useful
to decompose into a series of operations
projection
intrinsics
rotation
translation
identity matrix
A camera is described by several parameters
•Translation
T of the optical center from the origin of
world coords
•Rotation
R of the image plane
•focal
length f, principle point (x’c, y’c), pixel size (sx, sy)
•blue
parameters are called “extrinsics,” red are “intrinsics”
K