4. Sub Function Descriptions: extrinsicsSolver

• extrinsicsSolver

  • Description:

  This function solves for a single camera geometry EO (extrinsics) and associated errors given: specified known values for extrinsics, initial guesses for unknown values of extrinsics, camera IO (intrinsics), world GCP coordinates (xyz), and corresponding UV coordinates of GCPs (UV). More information concerning coordinate systems 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 GCP xyz points to be converted and azimuth, tilt, and swing should be in radians. Include both known and initial guesses of unknown values.
  xyz	[Px3]	Px3 list of world coordinates of P GCP points. Columns represent x,y, and z coordinates of GCPs. Rows are each GCP.
  UV	[Px2]	List of image UV coordinates of P GCP points. Columns represent GCP U and V coordinates. Rows should correspond to same GCP point as xyz rows.
  extrinsicsKnownFlags	[1 x 6]	Vector of 1s and 0s marking whether values in extrinsics are known (1) or are initial guesses (0) and should be solved for.

  • Output:

  Variable	Size	Description
  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 GCP xyz points to be converted and azimuth, tilt, and swing should be in radians. Include both known and initial guesses of unknown values.
  extrinsicsUncert	[1x6]	A [ 1 x 6] vector with the uncertainty value of each solved extrinsic value provided by nlinfit. Units are in units entered in extrinsics for position and radians for pose.

  • Required Core Sub-Functions:

    • xyz2DistUV
    • intrinsicsExtrinsics2P
    • distortUV