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estimate_camera

PURPOSE ^

ESTIMATE_CAMERA estimates the camera parameters.

SYNOPSIS ^

function [ K T Omega inlier ] = estimate_camera( x, X, varargin )

DESCRIPTION ^

 ESTIMATE_CAMERA estimates the camera parameters.

 This performs the direct linear transform (DLT) given the set of image
 points x with respect to the corresponding 3D points X. In addition,
 RANSAC alrogithm is used to robustly estimate the camera, followed by the
 non-linear refinement step.

 x ~ K [ R | T ] X

 input:
        x = image points (3xn in image plane)
        X = 3d points (4xn)

 Options:
        'K', K - calibration parameters (4x1) or matrix (3x3)

 output:
        K      - intrinsic camera parameters              (4x1)
        T      - extrinsic camera parameter (translation) (3x1)
        Omega  - extrinsic camera parameter (rotation)    (3x1)
        inlier - inliers among image points

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:
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