Camera parameter file - LambLabs/Lider-DERS GitHub Wiki
Camera parameters file constans of intrinsic and extrinsig camera matricess of a pin hole camera model.
Camera parameters shall be specified as rotation matrix R, translation vector t, intrinsic matrix K for each camera i. Values shall be given in floating point precision as accurate as possible.
The extrinsic camera parameters
The extrinsic camera parameters R and t shall be specified according to a right-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 vector t(i) for i-th camera is represented as follows:
| t_1(i) |
|---|
| t_2(i) |
| t_3(i) |
The rotation matrix R and the translation vector t define the position and orientation of the corresponding camera with respect to the world coordinate system. The components of the rotation matrix R are function of the rotations about the three coordinate axes.
The intrinsic camera parameters
The intrinsic matrix K(i) for i-th camera is represented as follows:
| focal_length_u(i) | skrew(i) | principal_point_u(i) |
|---|---|---|
| 0.0 | focal_length_v(i) | principal_point_v(i) |
| 0.0 | 0.0 | 1.0 |
- focal_length_u(i)
specifies the focal length of the i-th camera in the horizontal direction units of pixels. - focal_length_v(i)
specifies the focal length of the i-th camera in the vertical direction in units of pixels. - principal_point_u(i)
specifies the principal point of the i-th camera in the horizontal direction units of pixels. - principal_point_v(i)
specifies the principal point of the i-th camera in the vertical direction in units of pixels. - skrew(i)
specifies the skrew distortion coefficient of the i-th camera.
Exemplary camera parameters file
‘camera name of the 0th view’
focal_length_u[0] skrew[0] principal_point_u[0]
0.0 focal_length_v[0] principal_point_v[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_u[1] skrew[1] principal_point_u[1]
0.0 focal_length_v[1] principal_point_v[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_u[2] skrew[2] principal_point_u[2]
0.0 focal_length_v[2] principal_point_v[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]
Exemplary camera parameters file
Examplary camera parameters file
param_v0
1546.738242 0.000000 980.168232
0.000000 1547.755165 534.722224
0.000000 0.000000 1.000000
0.000000 0.000000
1.000000 0.000000 0.000000 -0.2571709
0.000000 1.000000 0.000000 0.000533212
0.000000 0.000000 1.000000 -0.005623985
param_v1
1546.738242 0.000000 980.168232
0.000000 1547.755165 534.722224
0.000000 0.000000 1.000000
0.000000 0.000000
1.000000 0.000000 0.000000 -0.2204776
0.000000 1.000000 0.000000 0.000295185
0.000000 0.000000 1.000000 -0.004842245
param_v2
1546.738242 0.000000 980.168232
0.000000 1547.755165 534.722224
0.000000 0.000000 1.000000
0.000000 0.000000
1.000000 0.000000 0.000000 -0.1835734
0.000000 1.000000 0.000000 0.000258404
0.000000 0.000000 1.000000 -0.004245866
param_v3
1546.738242 0.000000 980.168232
0.000000 1547.755165 534.722224
0.000000 0.000000 1.000000
0.000000 0.000000
1.000000 0.000000 0.000000 -0.1470031
0.000000 1.000000 0.000000 0.000164337
0.000000 0.000000 1.000000 -0.003392388