5. Equation and Coordinate System Definitions: Intrinsics
The intrinsic vector is defined as the following:
| CIRN Intrinsics Variable | Caltech Variable | Symbol | Description |
|---|---|---|---|
| intrinsics(1) | nx | Number of pixel columns | |
| intrinsics(2) | ny | Number of pixel rows | |
| intrinsics(3) | cc(1) | Uo | U component of principal point, defined from top left corner of image |
| intrinsics(4) | cc(2) | Vo | V component of principal point, defined from top left corner of image |
| intrinsics(5) | fc(1) | fx | U components of focal lengths (in pixels) |
| intrinsics(6) | fc(2) | fy | V components of focal lengths (in pixels) |
| intrinsics(7) | kc(1) | d1 | Radial Distortion Coefficient |
| intrinsics(8) | kc(2) | d2 | Radial Distortion Coefficient |
| intrinsics(9) | kc(5) | d3 | Radial Distortion Coefficient |
| intrinsics(10) | kc(3) | d1 | Tangential Distortion Coefficient |
| intrinsics(11) | kc(4) | d2 | Tangential Distortion Coefficient |
The equations for converting undistorted UV image coordinates to distorted coordinates is the following using symbols defined above. The model is defined in [3].
Normalize Distances in homogenous camera coordinates
Radial Distortion
Tangential Distortion
Apply Distortion Correction
Convert Back to Image Coordinates
