Camera Intrinsic Parameter
The idiom calibrating intrinsic camera parameters means finding the transformation from camera 3D coordinate system to image 2D coordinate system (using projection matrix). Where: § Camera Frame: is the coordinate system which takes camera center as its origin and the optic axis as (Z), and is in mm. § Image Frame: is the coordinate system which measures the pixel location in the image plane (only x and y) and its origin is the above left corner of the chip. o Camera intrinsic Parameters characterize the optical, geometry and digital characteristics of a camera. o The degree of freedom of Intrinsic parameter in the real situation (not ideal situation) is 5 : § S x , S y (sometimes called: ) are the pixel scale factors (pixel à mm) in x and y direction (can be expressed by focal length and aspect ratio) Aspect ratio: is the ratio of pixel size difference between x and y (width ...