intrinsic matrix

Table of Contents 1. Introduction: Perspective-n-Point (PnP) problem 2. Degrees of freedom 3. Mapping 3D points to camera coordinates 4. Retrieving the camera pose 4.1. Noiseless scenario 4.2. Noisy scenario 4.3. Handling the reflection case 4.4. Algorithm 5. Example 6. Conclusion 7. References 1. Introduction: Perspective-n-Point (PnP) problem We have seen in an earlier article how we can estimate the homography matrix $H$ that characterizes the projective transform between two images....

Table of Contents 1. Introduction 2. Conics 2.1. Tangency 2.2. Duality 2.3. Pole-polar relationship 2.4. Conjugacy 3. Undoing the projective distortion 3.1. 2D projective space 3.1.1. Angles between rays 3.1.2. The line at infinity 3.1.3. The circular points 3.2. 3D projective space 3.2.1. The plane at infinity 3.2.2. The absolute conic 3.2.3. Angles between rays 3.2.4. The dual absolute quadric 3.2.5. Angles between planes 4. Camera calibration 4.1 Angle between rays 4....