Tsai Camera Model
The Tsai model is based on a pinhole perspective projection model and the following eleven parameters are to estimate:
f - Focal length of camera,
k - Radial lens distortion coefficient,
Cx, Cy
- Co-ordinates of centre of radial lens distortion, Sx
- Scale factor to account for any uncertainty due to imperfections in hardware timing for scanning and digitisation, Rx, Ry, Rz
- Rotation angles for the transformation between the world and camera co-ordinates, Tx, Ty, Tz
- Translation components for the transformation between the world and camera co-ordinates.
Figure 1: Tsai Camera re-projection model with perspective projection and radial distortion.
The transformation from world (Xw,Yw,Zw) to image (Xi,Yi,Zi) co-ordinates considers the extrinsic parameters of the camera (Translation
where
with
(Rx,Ry,Rz) the Euler angles of the rotation around the three axes.
(Tx,Ty,Tz) the 3D translation parameters from world to image co-ordinates.
The transformation from 3D position (in the image co-ordinate frame) to the image plane is then computed through the following steps (see Figure 1):
Transformation from 3D world co-ordinates (Xi,Yi) to undistorted image plane (Xu,Yu) co-ordinates
Transformation from undistorted (Xu,Yu) to distorted (Xd,Yd) image co-ordinates
where
, and k is the lens distortion coefficient.
Transformation from distorted co-ordinates in image plane (Xd,Yd) to the final image co-ordinates (Xf,Yf) are:
with
(dx,dy): distance between adjacent sensor elements in the X and Y direction.
dx and dy are fixed parameters of the camera. They depend only on the CCD size and the image resolution, (Xf,Yf) are the final pixel position in the image.
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