Single View Geometry
Principal point
point where principal axis intersects the
image plane
- Principal Axis
- perpendicular to the image plane
- Normalized coordinate system
- camera center is at the origin and the principal axis is the z-axis
- f is distance between camera and image plane
- P is principal Point (0, 0, Z)
Calibration
and then fill decomposed matrix (cameral internal and camera external becuz f is internal to the camera)
External Factor
Intrinsic Parameter
- recover transition matrix
- recover location
- recover principle point and image point small x
- use multiple and recover large X
Two linearly independent equations
P has 11 degrees of freedom (12 parameters, but scale is arbitrary)
solve the unknown P