required matlab code

P = [

75.1267 25.5095 50.5957

69.9077 89.0903 95.9291

54.7216 13.8624 14.9294

25.7508 84.0717 25.4282

81.4285 24.3525 92.9264

34.9984 19.6595 25.1084

61.6045 47.3289 35.1660

83.0829 58.5264 54.9724

91.7194 28.5839 75.7200

75.3729 38.0446 56.7822

7.5854 5.3950 53.0798

77.9167 93.4011 12.9906

56.8824 46.9391 1.1902

33.7123 16.2182 79.4285

31.1215 52.8533 16.5649

60.1982 26.2971 65.4079

68.9215 74.8152 45.0542

8.3821 22.8977 91.3337

15.2378 82.5817 53.8342

99.6135 7.8176 44.2678 ];

p = 1.0e+04 * [

0.0847 0.0129

0.0245 0.0035

0.1846 0.0405

0.0191 0.0064

0.0646 0.0020

0.0638 0.0092

0.0450 0.0109

0.0431 0.0100

0.0782 0.0086

0.0572 0.0093

0.0461 -0.0049

0.0287 0.0142

0.0533 0.0211

0.0451 -0.0032

0.0302 0.0087

0.0567 0.0040

0.0307 0.0089

0.0293 -0.0050

0.0176 0.0029

-1.2160 -0.2156 ];

R = [

0.7472 0.0401 0.6634

0.5417 0.5417 -0.6428

-0.3851 0.8396 0.3830 ];

T= [ 120

10

13];

alpha = 1;

f = 100;

K=[ f 0 0;

0 f 0;

0 0 1];

x = p(:,1);

y = p(:,2);

X = P(:,1);

Y = P(:,2);

Z = P(:,3);

% A v = 0 solve it with SVD

% x => x(*,1)

% y => x(*,2) etc.

% A = [ x*X x*Y x*Z x -y*X -y*Y -y*Y -y ];

A = [ x.*X x.*Y x.*Z x -y.*X -y.*Y -y.*Z -y]

[ U D V] = svd(A);

v = V(:,end);

Camera Calibration In this programming assignment, you are expected to find camera parameters from given set of 3D points and their projections on the image plane. Projection equation is like this: x = K (RX + T) You should implement the first method in the slides. Basic Equations (3) x,X, + x Yv, + yle, 2,"v, + x,y, - yx", - yyy, - y Z' v, - y.v, = 0 v 21, V, - ar V = a.. - ar V = " , = ar v. = T,, = at, Solving for v *;27" 1,2; - yx, - Yox - ,,r," - y, Zi - y,Y;" y, 27 IN - y x - y Y, - P2 A v = 0 (3) How would we solve this system: SVD. Solution: v = y('a , r'n, Pus ,T,, ar, ara, ar, ,aT.) Uknown scale factor y=? Aspect ratio a=? Solving for Tz and fx? x,(rX," + r.,Y," + ruz" +T,) = - f.(n,x," + rY," + rusz," + T.) (1) - = b What to submit: . . Source codes Output parameters K, R, and T Performance results . Camera Calibration In this programming assignment, you are expected to find camera parameters from given set of 3D points and their projections on the image plane. Projection equation is like this: x = K (RX + T) You should implement the first method in the slides. Basic Equations (3) x,X, + x Yv, + yle, 2,"v, + x,y, - yx", - yyy, - y Z' v, - y.v, = 0 v 21, V, - ar V = a.. - ar V = " , = ar v. = T,, = at, Solving for v *;27" 1,2; - yx, - Yox - ,,r," - y, Zi - y,Y;" y, 27 IN - y x - y Y, - P2 A v = 0 (3) How would we solve this system: SVD. Solution: v = y('a , r'n, Pus ,T,, ar, ara, ar, ,aT.) Uknown scale factor y=? Aspect ratio a=? Solving for Tz and fx? x,(rX," + r.,Y," + ruz" +T,) = - f.(n,x," + rY," + rusz," + T.) (1) - = b What to submit: . . Source codes Output parameters K, R, and T Performance results