4. Sub Function Descriptions: distUV2XYZ

• distUV2XYZ

  • Description:

  This function computes the world XYZ coordinates that correspond to a set of distorted UVd image coordinates for a given camera extrinsics and intrinsics In order for UV to be solved, one dimension of xyz must be specified and provided for each point. Coordinate system information is in Section 6.

  • 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.
  UVd	[Px2]	List of distorted image UVd coordinates P points. Columns represent Ud and Vd coordinates.
  knownDim	[1x1]	String of either ‘x’,’y’,’z’ specifying which dimension is known and provided by the user.
  knownValu	[Px1]	Px1 vector of known world coordinates of UVd points specified. World dimension is that of knownDim and rows should correspond to samepoints as UVd.

  • Output:

  Variable	Size	Description
  xyz	[Px3]	Px3 list of world coordinates of P UVd points. Columns represent world x,y, and z coordinates. Rows correspond to UVd points.

  • Required Core Sub-Functions:

    • intrinsicsExtrinsics2P
    • undistortUV