MATLAB Simulate 3D Camera: why is there no focal length (world units) attribute in the sensor model?
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In the 3D camera simulation (https://www.mathworks.com/help/driving/ref/simulation3dcamera.html) - there is no specific focal length (mm) for the camera intrinsics. I'm working on feature tracking using the camera feed and I cannot estimate the 3D location of a point without knowing the focal length or the scaling factor (w) in (https://www.mathworks.com/help/vision/ug/camera-calibration.html).
It would also be great if MATLAB provides a DEM of the UAV scenarios - ground truth for many applications.
Please advise.
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Qu Cao
2022년 6월 1일
Please take a look at this page:
If you know the size of the pixel in world units, you can convert focal length in world units (usually mm) to focal length in pixels.
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Qu Cao
2022년 6월 1일
Given the following equations:
X = (u - cx) * Z / fx;
Y = (v - cy) * Z / fy;
where [X, Y, Z] is the 3-D point location, [u, v] is the corresponding image point location, and [fx, fy] is the focal lengths. You should be able to compute the factor you were talking about. Note that the Depth port outputs the Z values.
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