[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

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