4. Sub Function Descriptions: caltech2CIRN

• caltech2CIRN

  • Description:

  This function converts the intrinsics calculated from the caltech toolbox to nomenclature congruent with the CRIN architecture. Note this only works with non-fisheye lenses and calibration models. More information on the distortion model is in Section 5.

  • Input:

  Variable	Size	Description
  caltechpath	String	filepath of saved calibration results from Caltech Toolbox (calib_results). Minimum needed variables listed below.
  		nx: Number of pixel columns
  		ny: Number of pixel rows
  		cc(1): U component of principal point, defined from top left corner of image
  		cc(2): V component of principal point, defined from top left corner of image
  		fc(1): U components of focal lengths (in pixels)
  		fc(2): V components of focal lengths (in pixels)
  		kc(1): Radial Distortion Coefficient
  		kc(2): Radial Distortion Coefficient
  		kc(5): Radial Distortion Coefficient
  		kc(3): Tangential Distortion Coefficient
  		kc(4): Tangential Distortion Coefficient

  • Output:

  Variable	Size	Description
  intrinsics	[1x11]	Intrinsics Vector

  • Required Core Sub-Functions:

    None.