# Text export # created by voodoo camera tracker - www.digilab.uni-hannover.de # Creation date: Fri Apr 09 13:29:19 2010 # The camera (one line per frame) # # Description of the CAHV camera model: # ------------- # (Cx, Cy, Cz) : CameraPosition [mm] # (Ax, Ay, Az) : RotationAxis2 [unit vector] # (Hx, Hy, Hz) : RotationAxis0 [pel] (including FocalLength, PixelSizeX, and Principal Point offset) # (Vx, Vy, Vz) : RotationAxis1 [pel] (including FocalLength, PixelSizeY, and Principal Point offset) # (K3, K5) : Radialdistortion; K3 [1/(mm)^2] K5 [1/(mm)^4] # (sx, sy) : PixelSize [mm/pel] # (Width, Height) : ImageSize [pel] # ------------- # (ppx, ppy) : Principal Point offset [pel] # f : Focal Length [mm] # fov : Horizontal Field of View [degree] = (2*atan(0.5*Width*sx/f)*180/PI; # (H0x, H0y, H0z) : RotationAxis0 [unit vector] # (V0x, V0y, V0z) : RotationAxis1 [unit vector] # ------------- # (x, y) : image coordinates [pel] # (X, Y, Z) : 3D coordinates [mm] # ------------- # Projection of 3D coordinates in the camera image: # [ x' ] = [ Hx Hy Hz ] [ 1 0 0 -Cx] [ X ] # [ y' ] = [ Vx Vy Vz ] [ 0 1 0 -Cy] [ Y ] # [ z' ] = [ Ax Ay Az ] [ 0 0 1 -Cz] [ Z ] # [ 1 ] # or # [ x' ] = [f/sx 0 ppx] [ H0x H0y H0z ] [ 1 0 0 -Cx] [ X ] # [ y' ] = [0 f/sy ppy] [ V0x V0y V0z ] [ 0 1 0 -Cy] [ Y ] # [ z' ] = [0 0 1 ] [ Ax Ay Az ] [ 0 0 1 -Cz] [ Z ] # [ 1 ] # then x = x'/z' and y = y'/z' , if the origin of the image coordinates is in the center of the image # or x = x'/z' + 0.5*(Width-1) and y = y'/z' + 0.5*(Height-1) , if the origin of the image coordinates is in the upper left corner # ------------- # Cx Cy Cz Ax Ay Az Hx Hy Hz Vx Vy Vz K3 K5 sx sy Width Height ppx ppy f fov H0x H0y H0z V0x V0y V0z # #timeindex 1 0.0283265233 1.1177900632 0.5268359783 -0.0003352433 0.0291746449 0.9995742732 824.6537586569 3.2125515680 0.1828124334 -3.4195737718 879.2562589520 -25.6640613625 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 0.0000000000 8.7963737212 75.6284598789 0.9999923875 0.0038956072 0.0002216822 -0.0038874812 0.9995667383 -0.0291757287 #timeindex 2 0.0403739654 1.1187741084 0.5334349811 -0.0006321292 0.0292866958 0.9995708528 824.6459543906 4.8042183846 0.3807464690 -5.1104062528 879.2451206525 -25.7644715327 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 -0.0000000000 8.7963737212 75.6284598789 0.9999829239 0.0058256956 0.0004617011 -0.0058096739 0.9995540759 -0.0292898782 #timeindex 3 0.0474521443 1.1215901303 0.5434544412 -0.0008357286 0.0294191388 0.9995668141 824.6345294196 6.4667861749 0.4991396212 -6.8792539695 879.2295749428 -25.8831382844 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 0.0000000000 8.7963737212 75.6284598789 0.9999690697 0.0078417601 0.0006052671 -0.0078205567 0.9995364031 -0.0294247824 #timeindex 4 0.0604864309 1.1243396165 0.5536259051 -0.0012447707 0.0294478130 0.9995655441 824.6215936393 7.9229567177 0.7934958105 -8.4225576809 879.2152742457 -25.9127090807 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 0.0000000000 8.7963737212 75.6284598789 0.9999533835 0.0096075429 0.0009622096 -0.0095750339 0.9995201456 -0.0294583995 #timeindex 5 0.0814436984 1.1261279152 0.5628735871 -0.0015323470 0.0296090235 0.9995603822 824.6087836577 9.1401674832 0.9933920856 -9.7138516620 879.1976460503 -26.0585245593 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 -0.0000000000 -0.0000000000 8.7963737212 75.6284598789 0.9999378499 0.0110835582 0.0012046080 -0.0110430184 0.9995001053 -0.0296241672 #timeindex 6 0.1414373249 1.1346469029 0.5833902032 -0.0017754742 0.0300970709 0.9995454037 824.5996218851 9.9135817292 1.1662157469 -10.5322403983 879.1752880188 -26.4913436059 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 -0.0000000000 8.7963737212 75.6284598789 0.9999267401 0.0120214165 0.0014141776 -0.0119733890 0.9994746880 -0.0301162098 #timeindex 7 0.1753135990 1.1336134013 0.5969962638 -0.0016974103 0.0307941066 0.9995243078 824.5919462743 10.5423397298 1.0755405929 -11.2044848096 879.1482879137 -27.1044980625 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 -0.0000000000 8.7963737212 75.6284598789 0.9999174325 0.0127838615 0.0013042230 -0.0127376180 0.9994439934 -0.0308132634 #timeindex 8 0.2056827771 1.1381852819 0.6149827730 -0.0017434441 0.0315344614 0.9995011446 824.5709043878 12.0781393031 1.0572430940 -12.8413594317 879.1054997595 -27.7583540088 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 -0.0000000000 8.7963737212 75.6284598789 0.9998919167 0.0146462042 0.0012820351 -0.0145984696 0.9993953504 -0.0315565878 #timeindex 9 0.2442890330 1.1402748114 0.6341728205 -0.0018655871 0.0324923004 0.9994702447 824.5400943276 14.0226640226 1.0831965796 -14.9120425526 879.0456646661 -28.6051893076 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 -0.0000000000 8.7963737212 75.6284598789 0.9998545558 0.0170041755 0.0013135068 -0.0169524886 0.9993273280 -0.0325192974 #timeindex 10 0.2764713406 1.1386287825 0.6581622810 -0.0021636965 0.0330831064 0.9994502621 824.5082449891 15.7713209410 1.2629155695 -16.7689276571 878.9948951012 -29.1321795942 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 0.0000000000 8.7963737212 75.6284598789 0.9998159346 0.0191246335 0.0015314378 -0.0190634552 0.9992696115 -0.0331183969 #timeindex 11 0.3316974042 1.1242786366 0.7286502484 -0.0052830509 0.0325383775 0.9994565240 824.4342554560 18.9297197790 3.7416192581 -20.0508647580 878.9396932161 -28.7208103702 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 -0.0000000000 0.0000000000 8.7963737212 75.6284598789 0.9997262134 0.0229545739 0.0045371657 -0.0227944667 0.9992068562 -0.0326507391 #timeindex 12 0.3877764395 1.1110519680 0.7547890927 -0.0073980033 0.0308761162 0.9994958404 824.4128780335 19.4244629542 5.5020311100 -20.5277744779 878.9738095157 -27.3049280757 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 0.0000000000 8.7963737212 75.6284598789 0.9997002906 0.0235545099 0.0066718779 -0.0233366329 0.9992456407 -0.0310411187 #timeindex 13 0.4478382047 1.0998508419 0.7832977302 -0.0092281468 0.0283995770 0.9995540532 824.4014474103 19.4059101354 7.0597262360 -20.4765470869 879.0388868727 -25.1645151313 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 -0.0000000000 8.7963737212 75.6284598789 0.9996864296 0.0235320123 0.0085607716 -0.0232783960 0.9993196228 -0.0286078286 #timeindex 14 0.5294360943 1.1071049446 0.7976375620 -0.0104686625 0.0262988939 0.9995993074 824.4064633168 18.7588213701 8.1403585431 -19.7730372511 879.1054382801 -23.3358484098 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 -0.0000000000 8.7963737212 75.6284598789 0.9996925120 0.0227473390 0.0098711689 -0.0224786234 0.9993952805 -0.0265289415 #timeindex 15 0.6079380831 1.1106353804 0.8176255736 -0.0114303800 0.0253172452 0.9996141173 824.4214616422 17.6862676090 8.9791478793 -18.6155898625 879.1530311887 -22.4791904321 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 -0.0000000000 8.7963737212 75.6284598789 0.9997106993 0.0214467378 0.0108883024 -0.0211628001 0.9994493857 -0.0255550652 #timeindex 16 0.7114393702 1.1303902584 0.8902357800 -0.0155036857 0.0240769516 0.9995898840 824.4367869208 14.6126212783 12.4350812638 -15.2610448627 879.2442258902 -21.4149056759 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 -0.0000000000 -0.0000000000 8.7963737212 75.6284598789 0.9997292831 0.0177195700 0.0150790395 -0.0173492457 0.9995530587 -0.0243451522 #timeindex 17 0.8270098558 1.1277171054 0.9184180855 -0.0192408811 0.0240582155 0.9995253827 824.4052428222 13.3574454838 15.5483064138 -13.8421773896 879.2673375889 -21.4301099205 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 -0.0000000000 -0.0000000000 8.7963737212 75.6284598789 0.9996910320 0.0161975176 0.0188542014 -0.0157362316 0.9995793329 -0.0243624368 #timeindex 18 0.9550681679 1.1212378953 0.9393695603 -0.0209686673 0.0240934513 0.9994897801 824.3873529634 12.6899158753 16.9892284702 -13.0923862176 879.2778406845 -21.4703223313 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 -0.0000000000 0.0000000000 8.7963737212 75.6284598789 0.9996693384 0.0153880573 0.0206014936 -0.0148838449 0.9995912731 -0.0244081516 #timeindex 19 1.0606788206 1.1260128097 0.9700810763 -0.0215208321 0.0240324884 0.9994795112 824.3859006357 12.1345805545 17.4589336065 -12.4892618899 879.2880509654 -21.4114035882 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 -0.0000000000 -0.0000000000 8.7963737212 75.6284598789 0.9996675773 0.0147146461 0.0211710679 -0.0141981938 0.9996028805 -0.0243411709 #timeindex 20 1.1789151221 1.1302852302 1.0012386772 -0.0220477934 0.0242856491 0.9994619063 824.3876340366 11.3324210371 17.9103505239 -11.6174492203 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1.1557478822 1.1305094372 -0.0244385081 0.0275121353 0.9993226915 824.4039328214 4.5753878587 20.0348932995 -4.2891586296 879.2908585923 -24.3124567051 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 0.0000000000 8.7963737212 75.6284598789 0.9996894435 0.0055482110 0.0242947305 -0.0048760532 0.9996060723 -0.0276391812 #timeindex 24 1.7860222526 1.1507548939 1.1649430394 -0.0250213635 0.0288632345 0.9992701562 824.4008770571 1.8615743330 20.5889296334 -1.3503494079 879.2686466976 -25.4308853131 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 0.0000000000 8.7963737212 75.6284598789 0.9996857380 0.0022573840 0.0249665665 -0.0015351206 0.9995808211 -0.0289106467 #timeindex 25 1.9070564594 1.1367800908 1.1999045645 -0.0257140888 0.0296135090 0.9992306169 824.3869905493 -0.1445227100 21.2189655997 0.8242981826 879.2515706523 -26.0365603459 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1280 720 0.0000000000 0.0000000000 8.7963737212 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