CentralCamera.decomposeC#

classmethod CentralCamera.decomposeC(C: ndarray) → CentralCamera[source]#

Decompose camera calibration matrix

Parameters:: C (ndarray(3,4)) – camera calibration matrix
Returns:: camera model parameters
Return type:: CentralCamera

Decompose a \(3\times 4\) camera calibration matrix C to determine feasible intrinsic and extrinsic parameters. The result is a CentralCamera instance with the following parameters set:

Parameter	Meaning
`f`	focal length in pixels
`sx`, `sy`	pixel size where `sx` =1
(`u0`, `v0`)	principal point
`pose`	pose of the camera frame wrt world

Example:

>>> from machinevisiontoolbox import CentralCamera
>>> from spatialmath import SE3
>>> camera = CentralCamera(name='camera1')
>>> C = camera.C(SE3(0.1, 0, 0))
>>> CentralCamera.decomposeC(C)
           Name: invC [CentralCamera]
     pixel size: 1.0 x 1.0
           pose: t = 0.1, 0, 0; rpy/yxz = 0°, 0°, 0°
   principal pt: [0. 0.]
   focal length: [1. 1.]

Note

Since only \(f s_x\) and \(f s_y\) can be estimated we set \(s_x = 1\).

References:

Multiple View Geometry, Hartley&Zisserman, p 163-164
P. Corke, Robotics, Vision & Control for Python, Springer, 2023, Section 13.2.3.

Seealso:

C points2C

CentralCamera.decomposeC#

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