matlab coordinate,Coordinate Systems

Coordinate Systems

You can specify locations in images using various coordinate

systems. Coordinate systems are used to place elements in relation

to each other. Coordinates in pixel and spatial coordinate systems

relate to locations in an image. Coordinates in 3-D coordinate systems

describe the 3-D positioning and origin of the system.Pixel Indices

Pixel coordinates enable you to specify locations in images.

In the pixel coordinate system, the image is treated as a grid of

discrete elements, ordered from top to bottom and left to right.

For pixel coordinates, the number of rows, r, downward, while the number of

columns, c, increase to the right. Pixel coordinates are integer

values and range from 1 to the length of the row or column. The pixel coordinates

used in Computer Vision Toolbox™ software are one-based, consistent with the pixel coordinates used by

Image Processing Toolbox™ and MATLAB®. For more information on the pixel coordinate system, see Pixel Indices.Spatial Coordinates

Spatial coordinates enable you to specify a location in an image

with greater granularity than pixel coordinates. Such as, in the pixel

coordinate system, a pixel is treated as a discrete unit, uniquely

identified by an integer row and column pair, such as (3,4). In the

spatial coordinate system, locations in an image are represented in

terms of partial pixels, such as (3.3, 4.7).

For more information on the spatial coordinate system, see Spatial Coordinates.3-D Coordinate Systems

When you reconstruct a 3-D scene, you can define the resulting

3-D points in one of two coordinate systems. In a camera-based coordinate

system, the points are defined relative to the center of the camera.

In a calibration pattern-based coordinate system, the points are defined

relative to a point in the scene.

The Computer Vision Toolbox functions use the right-handed

world coordinate system. In this system, the x-axis

points to the right, the y-axis points down, and

the z-axis points away from the camera. To display

3-D points, use pcshow.Camera-Based Coordinate System

Points represented in a camera-based coordinate system are described

with the origin located at the optical center of the camera.

In a stereo system, the

origin is located at the optical center of Camera 1.

When you reconstruct

a 3-D scene using a calibrated stereo camera, the reconstructScene and triangulate functions return 3-D points

with the origin at the optical center of Camera 1. When you use Kinect® images,

the pcfromkinect function returns

3-D points with the origin at the center of the RGB camera.Calibration Pattern-Based Coordinate System

Points represented in a calibration pattern-based coordinate

system are described with the origin located at the (0,0) location

of the calibration pattern.

When you reconstruct a 3-D scene from multiple views containing a calibration pattern, the

resulting 3-D points are defined in the pattern-based coordinate system. The

Structure From Motion From Two Views

example shows how to reconstruct a 3-D scene from a pair of 2-D images

containing a checkerboard pattern.

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