The camera-frame coordinates Xc of a point in target or
object-frame coordinates Xo is given by a rigid-body rotation
Xc = Rc·Xo + Tc
where Rc and Tc define the pose of the calibration rig with respect to the camera frame.
The calibration toolbox routines for displaying extrinsic calibration
ext_calib.m (camera centered) and
script1(generates target normals)
axis_angle, calculates angle in degrees between two unit-length axes.
The toolbox routine
computes the extrinsic parameters from an image of a target pattern.
The intrinsic camera parameters are assumed to be known (previously computed).
Maintained by John Loomis, last updated 2 April 2013