4. Sub Function Descriptions: instrinsicsExtrinsicsToP

• instrinsicsExtrinsicsToP

  • Description:

  This function creates a camera P matrix from a specified camera extrinsics and intrinsics in addition to the comprising K, R, and IC matrices. See Section 5 for more information on matrix formulation. Note, output P is normalized for homogenous coordinates.

  • Input:

  Variable	Size	Description
  intrinsics	[1x11]	Intrinsics Vector Formatted as in A_formatIntrinsics.
  extrinsics	[1x6]	1x6 Vector representing [ x y z azimuth tilt swing] of the camera in world coordinates. Position values should be in the same units as xyz points to be converted and azimuth, tilt, and swing should be in radians.

  • Output:

  Variable	Size	Description
  P	[4x4]	Projection matrix to convert XYZ world coordinates to undistorted UV coordinates.
  K	[3 x 3]	Matrix to convert XYZc (camera) Coordinates to undistorted UV coordinates
  R	[3x3]	Rotation matrix to rotate XYZ world coordinates to Camera Coordinates XYZc
  IC	[4 x 3]	Translation matrix to translate XYZ world coordinates to Camera Coordinates XYZc

  • Required Core Sub-Functions:

    None.