Camera Matrix Computation and Resizing

Camera Matrix Computation and Resizing

1. Camera Matrix Computation

Given Parameters

• Sensor Size: 1/2.3" (6.17 mm x 4.55 mm)
• Focal Length (actual): 3.61 mm
• Image Size (4K): 3840 x 2160 pixels

Formulas

To compute the camera matrix, use the following formulas for ( fx ) and ( fy ):

$$fx=\frac{f\times w}{s_w}$$
$$fy=\frac{f\times h}{s_h}$$

Where:

• f : Focal length (3.61 mm)
• ( w ): Image width in pixels (3840)
• ( h ): Image height in pixels (2160)
• ( s_w ): Sensor width (6.17 mm)
• ( s_h ): Sensor height (4.55 mm)

Calculation

1. Calculate ( fx ):
   $$fx=\frac{3.61\times 3840}{6.17}\approx 2252.38$$

2. Calculate ( fy ):
   $$fy=\frac{3.61\times 2160}{4.55}\approx 1707.60$$

3. Principal Points:
   $$cx=\frac{3840}{2}=1920,cy=\frac{2160}{2}=1080$$

Camera Matrix

The camera matrix ( K ) is structured as follows:

$$K=\left[\begin{array}{ccc}fx& 0& cx\\ 0& fy& cy\\ 0& 0& 1\end{array}\right]$$

Substituting the values:

import numpy as np

fx = 2252.38
fy = 1707.60
cx = 1920
cy = 1080

camera_matrix = np.array([[fx, 0, cx],
                           [0, fy, cy],
                           [0, 0, 1]], dtype=np.float32)

print("Camera Matrix:")
print(camera_matrix)

---

2. Adjusting Camera Matrix After Resizing

New Image Size

If the image is resized to half its dimensions:

• New Width: ( 3840 / 2 = 1920 )
• New Height: ( 2160 / 2 = 1080 )

Adjusting Parameters

1. Focal Lengths:
   $$f{x}^{\prime }=\frac{fx}{2}\approx 1126.19$$
   $$f{y}^{\prime }=\frac{fy}{2}\approx 853.80$$

2. Principal Points:
   $$c{x}^{\prime }=\frac{cx}{2}=960$$
   $$c{y}^{\prime }=\frac{cy}{2}=540$$

New Camera Matrix

The adjusted camera matrix for the resized image is:

# New camera matrix for resized image
fx_prime = 1126.19
fy_prime = 853.80
cx_prime = 960
cy_prime = 540

camera_matrix_resized = np.array([[fx_prime, 0, cx_prime],
                                   [0, fy_prime, cy_prime],
                                   [0, 0, 1]], dtype=np.float32)

print("Resized Camera Matrix:")
print(camera_matrix_resized)