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Consider the pinhole camera shown in the Fig. 3, which has the intrinsic parameters matrix: [528 K= 0 0 0 530 0 3281 241 1
Consider the pinhole camera shown in the Fig. 3, which has the intrinsic parameters matrix: [528 K= 0 0 0 530 0 3281 241 1 and extrinsic parameters: R = Rot (45)Rotx(90) t = [27 -16 125]" a) Compute the full perspective projection matrix (20 marks) b) Calculate the 2D pixel coordinates p obtained by projecting the 3D points: (20 marks) -220 P1 = 0 1500 P2 = -379 325 P3 = 72 (1061) 831 Related by a rotation R and translation t World frame (e.g. robot's) Image plane Optical centre Image coordinates Fig. 3 Consider the pinhole camera shown in the Fig. 3, which has the intrinsic parameters matrix: [528 K= 0 0 0 530 0 3281 241 1 and extrinsic parameters: R = Rot (45)Rotx(90) t = [27 -16 125]" a) Compute the full perspective projection matrix (20 marks) b) Calculate the 2D pixel coordinates p obtained by projecting the 3D points: (20 marks) -220 P1 = 0 1500 P2 = -379 325 P3 = 72 (1061) 831 Related by a rotation R and translation t World frame (e.g. robot's) Image plane Optical centre Image coordinates Fig. 3
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