Help for STEREOCAM
Converts tiepoint locations to xyz coordinates for a stereo camera pair.
The coordinate system is cartesian and right handed. The uncommanded camera
points down the -Z axis. +X is to the right, +Y is up. The order of rotation
is:
First rotation about y (azimuth) positive to the left.
Second rotation about x (elevation) positive is up.
Third rotation about z (twist about optical axis) positive is counterclockwise.
Parameters permit you to position the camera in the unrotated initial
cartesian space and to rotate it about that point.
HISTORY
Written By: J Lorre jan 2002
Cognizant Programmer: J Lorre
PARAMETERS:
INP
Two inputs:
#1 is the left image
#2 is the right image
CAMERA1
9 real numbers:
1=focal length in pixels
2=camera x location
3=camera y location
4=camera z location
5=first rotation, degrees
6=second rotation, degrees
7=third rotation, degrees
8=sample of optical axis
9=line of optical axis
CAMERA2
9 real numbers:
1=focal length in pixels
2=camera x location
3=camera y location
4=camera z location
5=first rotation, degrees
6=second rotation, degrees
7=third rotation, degrees
8=sample of optical axis
9=line of optical axis
COORDS
4 real numbersrepresenting image tiepoint locations:
1=left eye sample
2=left eye line
3=right eye sample
4=right eye line
NL
Number of picture lines
NS
Number of picture samples
See Examples:
Cognizant Programmer: