how to calculate field of view of the camera from camera intrinsic matrix?

问题

I got camera intrinsic matrix and distortion parameters using camera calibration.

The unit of the focal length is pixels, i guess.

Then, how can i calculate field of view (along y) ?

Is this formula right?

double fov_y = 2*atan(height/2/fy)*180/CV_PI;

I'll use it to parameters of

gluPerspective()

回答1:

OpenCV has a function that does this. Looking at the implementation (available on GitHub) we have given an image with dimensions w x h and a camera matrix:

    

the equations for the field of view are:

    

来源：https://stackoverflow.com/questions/39992968/how-to-calculate-field-of-view-of-the-camera-from-camera-intrinsic-matrix