Perspective camera class

A concrete class for a central-projection perspective camera, a subclass of Camera. The camera coordinate system is:0------------> u X | | | + (principal point) | | Z-axis is into the page. v YThis camera model assumes central projection, that is, the focal point is at z=0 and the image plane is at z=f. The image is not inverted.

project | project world points |

K | camera intrinsic matrix |

C | camera matrix |

H | camera motion to homography |

invH | decompose homography |

F | camera motion to fundamental matrix |

E | camera motion to essential matrix |

invE | decompose essential matrix |

fov | field of view |

ray | Ray3D corresponding to point |

plot | plot projection of world point on image plane |

hold | control hold for image plane |

ishold | test figure hold for image plane |

clf | clear image plane |

figure | figure holding the image plane |

mesh | draw shape represented as a mesh |

point | draw homogeneous points on image plane |

line | draw homogeneous lines on image plane |

plot_camera | draw camera in world view |

plot_line_tr | draw line in theta/rho format |

plot_epiline | draw epipolar line |

flowfield | compute optical flow |

visjac_p | image Jacobian for point features |

visjac_p_polar | image Jacobian for point features in polar coordinates |

visjac_l | image Jacobian for line features |

visjac_e | image Jacobian for ellipse features |

rpy | set camera attitude |

move | clone Camera after motion |

centre | get world coordinate of camera centre |

estpose | estimate pose |

delete | object destructor |

char | convert camera parameters to string |

display | display camera parameters |

npix | image dimensions in pixels (2x1) |

pp | intrinsic: principal point (2x1) |

rho | intrinsic: pixel dimensions (2x1) in metres |

f | intrinsic: focal length |

k | intrinsic: radial distortion vector |

p | intrinsic: tangential distortion parameters |

distortion | intrinsic: camera distortion [k1 k2 k3 p1 p2] |

T | extrinsic: camera pose as homogeneous transformation |

nu | number of pixels in u-direction |

nv | number of pixels in v-direction |

u0 | principal point u-coordinate |

v0 | principal point v-coordinate |

- Camera is a reference object.
- Camera objects can be used in vectors and arrays

Camera matrix

C.Create central projection camera object

'name', N | Name of camera |

'focal', F | Focal length [metres] |

'distortion', D | Distortion vector [k1 k2 k3 p1 p2] |

'distortion-bouguet', D | Distortion vector [k1 k2 p1 p2 k3] |

'default' | Default camera parameters: 1024x1024, f=8mm, 10um pixels, camera at origin, optical axis is z-axis, u- and v-axes parallel to x- and y-axes respectively. |

'image', IM | Display an image rather than points |

'resolution', N | Image plane resolution: NxN or N=[W H] |

'sensor', S | Image sensor size in metres (2x1) |

'centre', P | Principal point (2x1) |

'pixel', S | Pixel size: SxS or S=[W H] |

'noise', SIGMA | Standard deviation of additive Gaussian noise added to returned image projections |

'pose', T | Pose of the camera as a homogeneous transformation |

'color', C | Color of image plane background (default [1 1 0.8]) |

Camera, fisheyecamera, CatadioptricCamera, SphericalCamera

Essential matrix

E(CentralCamera.F, CentralCamera.invE

Fundamental matrix

F(Homography matrix

H(Intrinsic parameter matrix

K() is the 3x3 intrinsic parameter matrix.Estimate pose from object model and camera view

Optical flow

C.quiverCamera field-of-view angles.

Decompose essential matrix

- The transformation is from view 1 to view 2.

Decompose homography matrix

Plot epipolar line

C.plot_epiline(Plot line in theta-rho format

plot_line_tr(Project world points to image plane

3D ray for image point

Visual motion Jacobian for point feature

CentralCamera.visjac_p, CentralCamera.visjac_p_polar, CentralCamera.visjac_l

Visual motion Jacobian for line feature

CentralCamera.visjac_p, CentralCamera.visjac_p_polar, CentralCamera.visjac_e

Visual motion Jacobian for point feature

CentralCamera.visjac_p_polar, CentralCamera.visjac_l, CentralCamera.visjac_e

Visual motion Jacobian for point feature

CentralCamera.visjac_p, CentralCamera.visjac_l, CentralCamera.visjac_e

Machine Vision Toolbox for MATLAB © 1990-2011 Peter Corke.