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→Coordinate Systems
=Coordinate Systems=
*Raspberry pi camera parameters:[https://www.raspberrypi.org/documentation/hardware/camera.md]
<pre>
Sensor resolution 2592 x 1944 pixels
Horizontal field of view 53.50 +/- 0.13 degrees
Vertical field of view 41.41 +/- 0.11 degress
</pre> [https://www.raspberrypi.org/documentation/hardware/camera.md]*VSFM Coordinates:[https://groups.google.com/forum/#!searchin/vsfm/units/vsfm/An6wbpfjV_0/AenqF1Di8VcJ]:
*So for example, focal length of 2933.38110352 * 0.0014 mm = 4.1mm focal length
*Actual focal length: 3.6mm / 0.0014 mm / pixel = 2,571.428 pixels