Create a cameraParameters object with more than one Intristic Matrix?
조회 수: 1 (최근 30일)
이전 댓글 표시
I want to do bundle adjustment.
In the SfM problem:
After Projective + Euc Recontruction, you get a bunch of Projection Matrices and 3D points and you pass than onto do bundle adjustment.
I have done Proj + Euc and have such a number of Projection Matrices and want to use Matlab's inbuilt bundleAdjuster to do so, problem is you can only pass a single intristic matrix to it, can someone tell me how to pass more than one intristic matrix to the cameraParameter initializer to give to the bundleAdjuster?
vSet = viewSet;
R = [];
T = [];
for i = 1:m
[r,t,~] = get_camera_para();
vSet = addView(vSet,i,'Orientation',r,'Location',t');
R(i,:) = rotationMatrixToVector(r);
T(i,:) = t';
end
cPose = poses(vSet);
W = get_camera_para_intristi(P(1:3,:)); %%only using first camera for now
cPara = cameraParameters('IntrinsicMatrix',W','RotationVectors',R,'TranslationVectors',T);
[X_final,P_final,reproj] = bundleAdjustment(X,tracks,cPose,cPara);
I want to do something like
for i = 1:m
W = get_W
camP = cameraParameter( add_new_W_to_camera_param_somehow );
end
bundleAdjust( bundle_adjust_using_all_camera_params / intristic_matrices );
댓글 수: 0
답변 (1개)
Qu Cao
2019년 11월 7일
Since R2019b, you can use an array of cameraIntrinsics objects to represent the intrinsic parameters of a bunch of different cameras:
댓글 수: 2
yinghui zhu
2020년 6월 18일
but how can we pass more than one camera intrinsic as a vector form for bundlesadjustment?
Qu Cao
2020년 6월 18일
You mean create an array of cameraIntrinsics object?
You can do the folowing:
intrinsics1 = cameraIntrinsics([800 800], [320, 240], [480 640]);
intrinsics2 = cameraIntrinsics([800 800], [325, 245], [480 640]);
intrinsics = [intrinsics1; intrinsics2]
intrinsics =
2×1 cameraIntrinsics array with properties:
FocalLength
PrincipalPoint
ImageSize
RadialDistortion
TangentialDistortion
Skew
IntrinsicMatrix
참고 항목
카테고리
Help Center 및 File Exchange에서 MATLAB Support Package for IP Cameras에 대해 자세히 알아보기
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!