TR-PM-01-2011 PinHole Camera Reference Frame and Calibration Techniques

@inproceedings{Medici2011TRPM012011PC,
  title={TR-PM-01-2011 PinHole Camera Reference Frame and Calibration Techniques},
  author={Paolo Medici},
  year={2011}
}
ku and kv are the focal lenght expressed in pixel unit. They are close related to real f focal lenght and τ aspect ratio but this syntax is slightly more compact. K converts from camera coordinates to image coordinates (expressed in homogeneous form). The R is the rotation matrix. Since in R a unique reference frame not exists to model rotation from 3 angles we are not to deal with the inner form of this matrix. The important stuff is that R is a rotation matrix or rather it is an orthonormal… CONTINUE READING