Camera Extrinsic
in Study on Computer Vision
This represents starting with “Where is my Camera”.
xyz - camera location alpha, beta, gamma - where camera looking to
6 degree of freedom
Camera Intrinsic
This sits inside of camera, describe how 3D world point on to the 2D image assuming that camera is sitting in 0 and zero orientation.
principal point / analog camera (sheer)
Direct Linear Transform (DLT)
- 11 degree of freedom (extrinsic + intrinsic)
6 control points allow us to estimate the intrinsics & extrinsics.
Additional parameters for lens distortions. (non-linear parameters)
x = PX
x 2d pixel coordinates p matrix (intrisics / extrinsics) X 3D world points
Estimate intrincs by using calibration
