NEED FOR ACCURATE INTRINSIC

CAMERA PARAMETERS

• Review of coordinate systems

• Review of camera model
• Focal length
• Principal point
COORDINATE SYSTEMS

YW
3D ZW
World
coordinate system XW
COORDINATE SYSTEMS
3D
Camera
coordinate system
YC
XC

ZC

YW
3D ZW
World
coordinate system XW
COORDINATE SYSTEMS
3D
Camera
coordinate system
YC
XC

ZC

Exterior orientation

YW
3D ZW
World
coordinate system XW
COORDINATE SYSTEMS
3D
Camera
coordinate system
YC
XC

ZC

YW
3D ZW
World
coordinate system XW
COORDINATE SYSTEMS
3D
Camera
coordinate system
YC
XC

ZC

YW
3D ZW
World
coordinate system XW
COORDINATE SYSTEMS
3D
Camera
coordinate system
YC
XC 2D
Image
c coordinate system
ZC
r

YW
3D ZW
World
coordinate system XW
COORDINATE SYSTEMS
3D
Camera
Interior orientation
coordinate system
YC
XC 2D
Image
c coordinate system
ZC
r

YW
3D ZW
World
coordinate system XW
INTERIOR ORIENTATION – INTRINSIC CAMERA PARAMETERS

YC
Focal distance 𝑓𝑓 XC

(x, y, 𝑓𝑓?)
Pinhole model ZC
(X, Y, Z )
𝑓𝑓?
Projection in the camera coordinate system
𝑓𝑓 𝑓𝑓
𝑥𝑥 = 𝑋𝑋 𝑦𝑦 = 𝑌𝑌
𝑍𝑍 𝑍𝑍
(0, 0, Z )
Recall the lens formula
1 1 1
= +
𝑓𝑓 𝑢𝑢 𝑣𝑣

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INTERIOR ORIENTATION – INTRINSIC CAMERA PARAMETERS

Focal distance 𝑓𝑓
1 1 1
Recall the lens formula = +
𝑓𝑓 𝑢𝑢 𝑣𝑣

𝑓𝑓

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INTERIOR ORIENTATION – INTRINSIC CAMERA PARAMETERS

Focal distance 𝑓𝑓
1 1 1
Recall the lens formula = +
𝑓𝑓 𝑢𝑢 𝑣𝑣

𝑓𝑓

u v
v should be the distance from the lens to the image plane in order to get a sharp image
v is called the principal distance (or camera constant) Opportunities, changing world and client’s digital expectations with our capabilities and context. Orpor sequam, aut arum voles que con natus sequi bla inverit aturem quam et fuga.

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INTERIOR ORIENTATION – INTRINSIC CAMERA PARAMETERS

For distant objects, v can be set to 𝑓𝑓

𝑣𝑣 𝑣𝑣
For nearby objects, v cannot be set to 𝑓𝑓. Then: 𝑥𝑥 = 𝑋𝑋 𝑦𝑦 = 𝑌𝑌
𝑍𝑍 𝑍𝑍

𝑓𝑓

u=Z v
For measurements in imagery, v always needs to be calibrated
Avoid the use of zoom lenses! Opportunities, changing world and client’s digital expectations with our capabilities and context. Orpor sequam, aut arum voles que con natus sequi bla inverit aturem quam et fuga.

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INTERIOR ORIENTATION – INTRINSIC CAMERA PARAMETERS

YC
Principal distance f (or v) XC
Principal point p (rp, cp)
(r, c)
Pixel sizes s𝑟𝑟 , s𝑐𝑐 ZC
(X, Y, Z )
𝑓𝑓
𝑟𝑟𝑝𝑝 − 𝑟𝑟 s𝑟𝑟 = 𝑦𝑦 = 𝑌𝑌 (rp,cp)
𝑍𝑍
𝑓𝑓
𝑐𝑐 − 𝑐𝑐𝑝𝑝 𝑠𝑠𝑐𝑐 = 𝑥𝑥 = 𝑋𝑋
𝑍𝑍
or
𝑓𝑓
𝑟𝑟 = − 𝑌𝑌 + 𝑟𝑟𝑝𝑝
𝑍𝑍sr
𝑓𝑓
𝑐𝑐 = 𝑋𝑋 + 𝑐𝑐𝑝𝑝
𝑍𝑍s𝑐𝑐

Principal point p (rp, cp) is only approximately at the centre of the CCD/CMOS chip. Calibration needed! Opportunities, changing world and client’s digital expectations with our capabilities and context. Orpor sequam, aut arum voles que con natus sequi bla inverit aturem quam et fuga.

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INTERIOR ORIENTATION – INTRINSIC CAMERA PARAMETERS

Example of robot camera: Arducam Synchronized Stereo Camera Bundle Kit for Raspberry Pi
• Resolution: 4056 (H) x 3040 (V)
• Pixel size: 1.55 µm x 1.55 µm
• Chip size: 6.29 mm x 4.71 mm
• Focal length: 6 mm

Source: https://www.robotshop.com/
Opportunities, changing world and client’s digital expectations with our capabilities and context. Orpor sequam, aut arum voles que con natus sequi bla inverit aturem quam et fuga.

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INTERIOR ORIENTATION – INTRINSIC CAMERA PARAMETERS

YC
Specs: 𝑓𝑓 = 6 mm XC 4056 pixels

Pixel size 𝑠𝑠𝑐𝑐 = 1.55 µm

ZC (r, c)
Assume 𝑐𝑐𝑝𝑝 is in the centre: 4056 / 2 = 2028 pixels (X, Y, Z )
6 mm
2028 pixels
Maximum ratio X/Z = (2028 * 0.00155) / 6 = 0.524
𝑓𝑓
𝑐𝑐 = 𝑋𝑋 + 𝑐𝑐𝑝𝑝 = 4056.00 pixel
𝑍𝑍s𝑐𝑐

Suppose 𝑓𝑓 = 5.99 mm
𝑓𝑓
𝑐𝑐 = 𝑋𝑋 + 𝑐𝑐𝑝𝑝 = 4052.62 pixel
𝑍𝑍s𝑐𝑐

The coordinate error is 3.38 pixels, far more than a measurement error of 0.1-0.5 pixel
Opportunities, changing world and client’s digital expectations with our capabilities and context. Orpor sequam, aut arum voles que con natus sequi bla inverit aturem quam et fuga.

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INTERIOR ORIENTATION – INTRINSIC CAMERA PARAMETERS

Example of robot camera: Arducam Synchronized Stereo Camera Bundle Kit for Raspberry Pi
• Resolution: 4056 (H) x 3040 (V)
• Pixel size: 1.55 µm x 1.55 µm
• Chip size: 6.29 mm x 4.71 mm
• Focal length: 6 mm

Absolute measurement accuracy of 0.1 pixels

Relative measurement accuracy of 0.1 / 4000 = 2.5 10-5 Source: https://www.robotshop.com/
Focal length and pixel sizes need to be known with at least the same relative accuracy
Principle point coordinates need to be known with at least the same absolute accuracy
Opportunities, changing world and client’s digital expectations with our capabilities and context. Orpor sequam, aut arum voles que con natus sequi bla inverit aturem quam et fuga.

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