[P Kin Kext] = GetCameraP(Rw2oc, Twoc, dCamXFOV, dDAR, nCamPixelsX, nCamPixelsY, dSkewAngle, nCamOriginZFw, nImInv)
Description: Returns the camera projection matrix. All input parameters can be column vectors (1row per camera), if input parameters have nCams rows the P matrix output will be 4x3xnCams matrix.
Out parameters:
- = Camera projection matrix [mat 4×3xnCams]
- Kin = Calibration intrinsics matrix [mat 3x3xnCams]
- Kext = Calibration extrinsics matrix [mat 4x4xnCams]
In parameters:
- Rw2oc = Rotation matrix [mat 3x3xnCams] (row based)
- Twoc = Camera translation vector respect world axis (camera position) [X Y Z] [mat nCamsx3] (row based)
- dCamXFOV = X Field of view of the camera ) [degree]
- dDAR = Display aspect ratio (Most common: 4/3, 16/9)
- nCamPixelsX = CCD pixels per row
- nCamPixelsY = CCD pixels per col
- dSkewAngle = Angle between CCD rows and cols [degree]
- nCamOriginZFw = Indicates where the original camera is pointing. Allowed values: 1 = +Z, -1 = -Z
- nImInv = Indicades if the camera gives the inverted image. Allowed values: 0 = Non inverted, 1 = Inverted
JORDI CENZANO 