Camera calibration
: the process of determinning the relationship between the 3D world coordinates and the 2D image coordinates captured by a camera. the process of estimating the intrinsic and extrinsic parameters of a camera, which are necessary to correctly interpret the image data obtained from the camera.
- Internal Camera Parameter
The internal parameters describe the geometric properties of the camera itself in a 3 × 3 matrix K, the camera calibration matrix.
fu, fv: focal length(초점 거리)
cu,cv: principal point(주점)
s: skew coefficint(비대칭계수) - 요즘 카메라는 거의 skew에러가 없어서 0
- External Camera Parmeter
The external parameters describe the pose of the camera relative to the origin of the world coordinate system in a 3 × 4 matrix [R | t], which is itself composed of a 3 × 3 rotation matrix R and a translation vector t:
Pinhole Camera Model
Pinhole camera model is a standard camera model that describes perspective projection using a 3x4 matrix.
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