Latest revision as of 10:17, 23 June 2014

Calibration Stuff

lecture notes camera calibration with regular pinhole camera model parameters.

example hand calculation of camera projection with homogenous coordinates in flat world (2D world, with 1D camera)

matlab code for calculating the camera parameters (in calibration.m)

   [U,S,V]=svd(B);
   m= V(:,12);

Epipolar geometry Stuff

Updated easier lab to save time in epipolar geometry lab

Code for making Q:

  ons=ones(NPOINTS,1);
  q1=[prhat(:,1) prhat(:,1) prhat(:,1) prhat(:,2) prhat(:,2) prhat(:,2) ons        ons        ons];
  q2=[plhat(:,1) plhat(:,2) ons        plhat(:,1) plhat(:,2) ons        plhat(:,1) plhat(:,2) ons];
  Q=q1.*q2;

some good points:

 pl =[
 209.5579  246.8471    1.0000
 275.4091  276.9959    1.0000
 252.4008  223.8388    1.0000
 315.0785  264.3017    1.0000
 461.8554  182.5826    1.0000
 457.8884  302.3843    1.0000
 531.6736  168.3017    1.0000
 544.3678  221.4587    1.0000
 513.4256  249.2273    1.0000
 586.4174   68.3347    1.0000
 272.2355   52.4669    1.0000
 257.1612   51.6736    1.0000
 54.8471   75.4752    1.0000
 64.3678  499.9380    1.0000
 245.2603  380.1364    1.0000
 ];

 pr =[
 231.7727  276.9959    1.0000
 288.8967  315.0785    1.0000
 296.0372  254.7810    1.0000
 350.7810  304.7645    1.0000
 476.1364  222.2521    1.0000
 471.3760  354.7479    1.0000
 567.3760  208.7645    1.0000
 577.6901  266.6818    1.0000
 534.8471  296.0372    1.0000
 736.3678   92.9298    1.0000
 427.7397   66.7479    1.0000
 411.8719   65.9545    1.0000
 126.2521   89.7562    1.0000
 134.1860  532.4669    1.0000
 215.1116  422.9793    1.0000
 ];

Optical flow, missing file

Gaussgen is in a zip file