# Text export # created by voodoo camera tracker - www.digilab.uni-hannover.de # Creation date: Thu Dec 29 20:28:28 2011 # 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 35.6256898179 14.6327314063 -29.8756278209 -0.0181840035 0.1711593508 0.9850755396 1080.2973734880 50.4769772034 11.1712493884 -50.9990098787 1135.3361665271 -198.2089287046 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 -0.0000000000 11.5363594320 83.1863387361 0.9988568796 0.0466716639 0.0103290812 -0.0442071957 0.9841373036 -0.1718123728 #timeindex 2 33.5898618042 12.7535138430 -27.6766302998 -0.0004463103 0.1893704237 0.9819056184 1081.0619347545 31.4508865760 -5.5742411271 -34.0665585458 1132.2648530531 -218.3842063442 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9995638028 0.0290798952 -0.0051540152 -0.0295297305 0.9814750136 -0.1893007995 #timeindex 3 33.5982820859 12.7457619044 -27.6344067638 -0.0006418605 0.1867378144 0.9824095768 1081.0568498377 31.6700265027 -5.3135718620 -34.2455276070 1132.8396712798 -215.3541559031 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9995591012 0.0292825148 -0.0049129971 -0.0296848653 0.9819732802 -0.1866742772 #timeindex 4 33.5685722985 12.6700199203 -27.6285015536 -0.0019844976 0.1839380332 0.9829358380 1081.0442188280 32.3050098456 -3.8627041226 -34.6285334666 1133.4287356560 -212.1698737104 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 -0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9995474224 0.0298696286 -0.0035715060 -0.0300168642 0.9824838957 -0.1839140631 #timeindex 5 33.5405820577 12.6349965591 -27.6618181917 -0.0027517750 0.1815535782 0.9833772043 1081.1053659338 30.3265710834 -2.5737212640 -32.3090421265 1134.0024427063 -209.4527994185 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 -0.0000000000 -0.0000000000 11.5363594320 83.1863387361 0.9996039598 0.0280403386 -0.0023796959 -0.0280062721 0.9829811990 -0.1815588363 #timeindex 6 33.5779552341 12.6558880356 -27.6218611238 -0.0014739195 0.1806461528 0.9835470477 1081.1697624382 27.8367454703 -3.4925057665 -29.8769669924 1134.2679255910 -208.3735330362 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 -0.0000000000 -0.0000000000 11.5363594320 83.1863387361 0.9996635016 0.0257382138 -0.0032292159 -0.0258980896 0.9832113261 -0.1806233017 #timeindex 7 33.6051391862 12.6590368098 -27.4982501394 0.0000723858 0.1794565580 0.9837658962 1081.2345466742 25.0089479127 -4.6416385314 -27.1316506998 1134.5941427422 -206.9683411458 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 -0.0000000000 11.5363594320 83.1863387361 0.9997234020 0.0231235957 -0.0042917188 -0.0235183819 0.9834940992 -0.1794052468 #timeindex 8 33.5734263860 12.6333854367 -27.4028024535 0.0017144054 0.1771214984 0.9841875002 1081.3156275510 20.9677826328 -5.6571115444 -23.0807740249 1135.1754912306 -204.2541833869 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9997983704 0.0193870822 -0.0052306383 -0.0200069824 0.9839980263 -0.1770525482 #timeindex 9 33.6080719361 12.6576426497 -27.2762968040 0.0005742263 0.1768385085 0.9842397128 1081.3754589231 18.0884768338 -3.8808569051 -19.7223276694 1135.2905595459 -203.9663321442 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9998536913 0.0167248389 -0.0035882903 -0.0170957985 0.9840977704 -0.1768030316 #timeindex 10 33.4775602426 12.4674080395 -27.2419110704 -0.0022089267 0.1846492135 0.9828020089 1081.4420032914 14.0813531122 -0.2149819377 -14.8041369299 1133.6990916419 -213.0330880201 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 -0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9999152190 0.0130198006 -0.0001987751 -0.0128325899 0.9827182469 -0.1846623185 #timeindex 11 33.4521434656 12.4390382841 -26.9197278572 -0.0034572927 0.1866641208 0.9824177081 1081.5072969531 7.1493439232 2.4475955990 -7.0045480436 1133.3337408005 -215.3635478001 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 -0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9999755904 0.0066103756 0.0022630784 -0.0060717145 0.9824015518 -0.1866824184 #timeindex 12 33.3737528640 12.0100990332 -26.2871110092 -0.0002797293 0.1823679480 0.9832303155 1081.5333185455 0.8932597287 0.1420161772 -0.9092062358 1134.2894781260 -210.3864126027 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9999996503 0.0008259195 0.0001313100 -0.0007881223 0.9832300084 -0.1823681152 #timeindex 13 33.1952997521 11.4854330741 -26.2987177146 0.0026395450 0.1742245584 0.9847024099 1081.5181604860 -5.4656217616 -1.9320256895 5.3817649043 1135.9772145611 -201.0042140247 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9999856350 -0.0050535843 -0.0017863759 0.0046650461 0.9846929798 -0.1742353948 #timeindex 14 33.3893288201 11.6992356974 -26.5027879741 0.0030687615 0.1691050565 0.9855932541 1081.4698508899 -11.6720436587 -1.3646312835 12.0246628710 1136.9531491221 -195.1123615649 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 -0.0000000000 11.5363594320 83.1863387361 0.9999409673 -0.0107921221 -0.0012617557 0.0104232734 0.9855389439 -0.1691281922 #timeindex 15 33.5734884667 11.7143745895 -26.3959595965 0.0066334452 0.1727379804 0.9849454744 1081.3497279835 -19.5724153646 -3.8501366659 19.8535435783 1136.1024645288 -199.3813340062 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9998299001 -0.0180969076 -0.0035598860 0.0172095397 0.9848015496 -0.1728286425 #timeindex 16 33.7296459428 11.8762394485 -26.1170827205 0.0095127952 0.1749943065 0.9845234885 1081.2215238917 -25.2929646805 -5.9514214013 25.4507231584 1135.5142412837 -202.0780987236 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 -0.0000000000 -0.0000000000 11.5363594320 83.1863387361 0.9997113610 -0.0233862012 -0.0055027610 0.0220613126 0.9842916632 -0.1751662645 #timeindex 17 33.6769143384 12.3076632435 -26.1826046525 0.0034360378 0.1825071382 0.9831985243 1081.0704462607 -31.5829405732 2.0845364247 33.5282595643 1133.7596851943 -210.5723663965 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 -0.0000000000 11.5363594320 83.1863387361 0.9995716726 -0.0292019940 0.0019273893 0.0290631197 0.9827707709 -0.1825293045 #timeindex 18 33.9890330759 12.3546827217 -26.2827183673 -0.0083264165 0.1997306464 0.9798154620 1080.5473224503 -42.5854959144 17.8632776628 48.3133561075 1129.4780918465 -229.8280859937 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 -0.0000000000 11.5363594320 83.1863387361 0.9990879856 -0.0393750986 0.0165166168 0.0418792050 0.9790593805 -0.1992206357 #timeindex 19 34.2781772601 12.1115492507 -25.9950556061 -0.0125149464 0.2122979221 0.9771248479 1079.9655108632 -52.4688709291 25.2319268983 60.4003447221 1125.9487058840 -243.8589746694 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9985500351 -0.0485133945 0.0233297649 0.0523565039 0.9760000219 -0.2113829550 #timeindex 20 34.3238487276 11.9703291197 -25.8785928528 -0.0151563586 0.2172548060 0.9759972511 1079.2077185831 -63.7775212898 30.9558578361 73.5701273031 1124.0244743901 -249.0628571102 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 -0.0000000000 11.5363594320 83.1863387361 0.9978493706 -0.0589695185 0.0286221853 0.0637723952 0.9743320508 -0.2158938082 #timeindex 21 34.4995729647 11.9890555369 -25.9268214900 -0.0205841222 0.2206114297 0.9751445488 1078.3107263745 -73.5441946956 39.4000763680 85.7688829118 1122.4744988707 -252.1320835597 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9970200000 -0.0679999106 0.0364298186 0.0743465765 0.9729884939 -0.2185542892 #timeindex 22 34.7827574746 11.9370282781 -25.7790473301 -0.0242871744 0.2255433042 0.9739303625 1077.3614679465 -82.9697473508 46.0806425120 97.2799322565 1120.4204945809 -257.0416689067 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9961423035 -0.0767148981 0.0426067562 0.0843246371 0.9712080325 -0.2228100385 #timeindex 23 35.3684479297 11.7690062327 -25.4624435602 -0.0270457541 0.2265548542 0.9736228352 1076.4641284418 -91.2436593772 51.1342547328 107.1163988941 1119.4165559514 -257.5044481188 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9953126118 -0.0843650638 0.0472793912 0.0928511282 0.9703377938 -0.2232111869 #timeindex 24 35.6848721799 11.5206282974 -25.2674412353 -0.0258537754 0.2235555382 0.9743482456 1075.6272945796 -100.4031579602 51.5777687836 116.6486791113 1119.3269839112 -253.7244138843 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9945388644 -0.0928340543 0.0476894700 0.1011139431 0.9702601505 -0.2199345603 #timeindex 25 36.1284264447 11.3763578725 -24.9215605288 -0.0268414431 0.2169798191 0.9758069968 1074.9868218012 -106.2486126029 53.1949478735 122.9017277304 1120.4346574573 -245.7584853887 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9939466750 -0.0982388371 0.0491847346 0.1065342394 0.9712203092 -0.2130294976 #timeindex 26 36.6719745228 11.5685016866 -24.3456851705 -0.0292107642 0.2096551510 0.9773389632 1074.1620410901 -112.7891286215 56.2997260352 130.1725200914 1121.5626384394 -236.7028781429 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9931840721 -0.1042862825 0.0520554526 0.1128367410 0.9721980708 -0.2051798746 #timeindex 27 37.6128256101 11.7615456140 -23.8011612442 -0.0332993112 0.2053819317 0.9781152376 1073.5552453093 -116.1115590857 60.9292895177 134.4898777413 1122.2289570094 -231.0639095271 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 -0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9926230209 -0.1073582445 0.0563360066 0.1165791327 0.9727756522 -0.2002918779 #timeindex 28 38.1534949031 11.8447000120 -23.4428005348 -0.0306553780 0.2054591530 0.9781854549 1072.8161530723 -123.4296396060 59.5463095378 141.8361733270 1121.3211428040 -231.0785236405 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9919396467 -0.1141246361 0.0550572855 0.1229470824 0.9719887365 -0.2003045458 #timeindex 29 38.4194060797 11.7001791371 -23.1923753754 -0.0313564901 0.2075674593 0.9777180168 1072.2698039216 -127.2129946311 61.3959184355 146.2637137302 1120.3228444574 -233.1513235732 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9914344853 -0.1176227750 0.0567674578 0.1267849832 0.9711233869 -0.2021012998 #timeindex 30 38.8659414216 11.5286356084 -22.8361635787 -0.0368652043 0.2072644832 0.9775900934 1071.3509207815 -131.3896437851 68.2576241337 152.0987683530 1119.8489365043 -231.6899081247 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9905848741 -0.1214845586 0.0631118793 0.1318429521 0.9707125919 -0.2008345089 #timeindex 31 39.4369776665 11.4587796043 -22.5125497908 -0.0401278125 0.2026377151 0.9784312521 1070.2359108147 -138.0452190001 72.4827560154 159.7391963054 1120.0648924839 -225.4194207247 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9895539215 -0.1276383893 0.0670184907 0.1384658629 0.9708997878 -0.1953990963 #timeindex 32 40.0541951688 11.7299807117 -22.2692446321 -0.0409967272 0.1992313811 0.9790945435 1069.3423216852 -143.9957991578 74.0766230562 166.1268151094 1120.0257401793 -220.9527372279 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 -0.0000000000 -0.0000000000 11.5363594320 83.1863387361 0.9887276974 -0.1331403724 0.0684922007 0.1440028079 0.9708658496 -0.1915272652 #timeindex 33 40.8044952200 11.7868745696 -21.8564443552 -0.0430518405 0.2022543368 0.9783862848 1068.4278614083 -148.7598824770 77.7659278708 172.0246665705 1118.5953410411 -223.6691005563 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 -0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9878821757 -0.1375453053 0.0719033795 0.1491152106 0.9696259445 -0.1938818757 #timeindex 34 41.2597468661 11.7835905468 -21.4218541957 -0.0405310969 0.2044189219 0.9780440351 1067.2741193370 -157.1629719283 77.0771798502 180.7662306560 1116.7627827753 -225.9211063924 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 -0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9868154109 -0.1453149101 0.0712665542 0.1566926132 0.9680374379 -0.1958339697 #timeindex 35 41.6584108472 11.8496491861 -21.1173741671 -0.0378878906 0.2064573447 0.9777217767 1066.4020975334 -163.5455020656 75.8588975412 187.2678670980 1115.2199328556 -228.2348281164 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 -0.0000000000 11.5363594320 83.1863387361 0.9860091283 -0.1512162798 0.0701401147 0.1623283916 0.9667000577 -0.1978395606 #timeindex 36 42.4677862712 11.5973637010 -20.4904820199 -0.0413609628 0.2098408975 0.9768603117 1065.7436539715 -165.5185649059 80.6796498301 190.5263008321 1114.0476436953 -231.2433041610 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9854003229 -0.1530405991 0.0745974444 0.1651528820 0.9656838886 -0.2004473816 #timeindex 37 43.2095856372 11.1819332934 -19.8985179540 -0.0383051953 0.2058859385 0.9778260031 1065.2893754338 -169.9018551000 77.5051187146 194.2311103982 1114.2789342247 -227.0079777182 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9849802911 -0.1570934457 0.0716622320 0.1683643021 0.9658843769 -0.1967760965 #timeindex 38 43.2010318086 11.1964809720 -19.7313297464 -0.0291352737 0.1986270829 0.9796419845 1065.5796096226 -172.6466593425 66.6960552068 194.5381961177 1115.5517133034 -220.3977192448 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9852486453 -0.1596313271 0.0616680325 0.1686304915 0.9669876531 -0.1910461620 #timeindex 39 43.4914448216 11.3816772212 -19.6053938384 -0.0299780010 0.1975526452 0.9798337981 1064.0626638876 -180.8900957469 69.0257762490 203.6036845167 1114.3187371981 -218.4380484978 0.0000000000 0.0000000000 0.0106666667 0.0100000000 1920 1080 0.0000000000 0.0000000000 11.5363594320 83.1863387361 0.9838460578 -0.1672533147 0.0638221227 0.1764886797 0.9659188791 -0.1893474712 #timeindex 40 44.1369875596 11.3863405882 -19.3063479164 -0.0298742113 0.2030672690 0.9787089536 1062.7198841655 -187.7362778452 71.3910007339 211.4521083553 1111.7079633072 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