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<?xml version="1.0" encoding="ISO-8859-1"?>
<!-- Example of settings for perspective transformation: -->
<!-- The tags are: -->
<!-- description: Human readable description of the transformation -->
<!-- computation_date: Human readable date and time when the -->
<!-- transformation was estimated. -->
<!-- transformation: The actual transformation data, in our case -->
<!-- this is the 3x4 homogenous perspective -->
<!-- projection matrix, P: -->
<!-- P = [K|0][R|t] -->
<!-- [0|1] -->
<!-- where K is an upper triangular 3x3 matrix -->
<!-- encoding the intrinsic camera parameters, and -->
<!-- R,t are the camera's pose. -->
<!-- P is represented by the two matrices K and -->
<!-- [R|t]. -->
<!-- Data is written in row major order and can -->
<!-- span multiple lines, as shown below. -->
<!-- The transformation has an optional "estimation_error" -->
<!-- attribute, the error associated with the transformation -->
<!-- estimate. -->
<!-- -->
<!-- -->
<precomputed_transform>
<description>
C-arm calibration
</description>
<computation_date>
Thursday July 4 12:00:00 1776
</computation_date>
<transformation estimation_error = "0.5">
5.2038 0.0000 0.8646
0 5.2038 0.6763
0 0 0.0013
-0.2579 -0.9662 -0.0001 -722.6399
0.0029 -0.0007 -1.0000 188.9381
0.9662 -0.2579 0.0030 -6.9727
</transformation>
</precomputed_transform>
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