HW2_sol - CS 556 Homework 2 Junyuan Lin 1. Camera...

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CS 556 Homework 2 Junyuan Lin 1. Camera Calibration 1.1. Intrinsic parameter ? = 493.3472 0 324.5764 0 494.0814 239.7733 0 0 1 ± Focal Length: fc = [ 493.34719 494.08140 ] ± [ 3.28668 3.37310 ] Principal point: cc = [ 324.57643 239.77328 ] ± [ 3.40480 3.28516 ] Distortion: kc = [ -0.42068 0.24068 -0.00011 -0.00113 0.00000 ] Pixel error: err = [ 0.24736 0.26363 ] For camera calibration, I use the Caltech’s toolbox. Since there is some distortion in the lens, the estimation of the distortion in the corner detection process helps to extract corners more accurately. In addition, the recomputation of the corners after the initial calibration by projecting back the 3D points onto the image helps to reduce the error. I also tested different window size for corner extraction. It turned out the window size of 7*7 has the best result. 1.2. Extrinsic parameter Extrinsic matrix [R T] 3×4 for all 12 views 0.0650 0.9976 0.0223 -210.2101 0.9405 -0.0538 -0.3356 -175.3152 -0.3336 0.0428 -0.9418 636.1819 -0.0563 0.9948 0.0845 -186.6537 0.9142 0.0854 -0.3962 -212.9003 -0.4013 0.0550 -0.9143 602.6036 -0.0334 0.9985 -0.0439 -198.9083 0.8713 0.0076 -0.4908 -217.1050 -0.4897 -0.0547 -0.8702 686.5767 0.0643 0.9977 -0.0236 -160.9195 0.9192 -0.0684 -0.3877 -290.7552 -0.3884 0.0032 -0.9215 643.7416 0.8046 0.5066 -0.3097 -325.5233 0.4508 -0.8607 -0.2367 44.3221 -0.3865 0.0508 -0.9209 690.0956 0.8639 0.3982 -0.3085 -251.9616 0.3676 -0.9171 -0.1542 86.3001 -0.3443 0.0198 -0.9386 649.3026 0.7896 0.5150 -0.3337 -302.5462 0.4430 -0.8547 -0.2708 70.9499 -0.4247 0.0660 -0.9029 701.4410 -0.0655 0.9975 -0.0279 -132.2434 0.8354 0.0701 0.5452 -131.6691 0.5458 0.0124
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HW2_sol - CS 556 Homework 2 Junyuan Lin 1. Camera...

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