Create a cameraParameters object with more than one Intristic Matrix?

I want to do bundle adjustment.

In the SfM problem:

After Projective + Euc Recontruction, you get a bunch of Projection Matrices and 3D points and you pass than onto do bundle adjustment.

I have done Proj + Euc and have such a number of Projection Matrices and want to use Matlab's inbuilt bundleAdjuster to do so, problem is you can only pass a single intristic matrix to it, can someone tell me how to pass more than one intristic matrix to the cameraParameter initializer to give to the bundleAdjuster?

vSet = viewSet;

R = [];
T = [];

for i = 1:m

[r,t,~] = get_camera_para();
vSet = addView(vSet,i,'Orientation',r,'Location',t');

R(i,:) = rotationMatrixToVector(r);
T(i,:) = t';

end

cPose = poses(vSet);
W = get_camera_para_intristi(P(1:3,:)); %%only using first camera for now
cPara = cameraParameters('IntrinsicMatrix',W','RotationVectors',R,'TranslationVectors',T); 
[X_final,P_final,reproj] = bundleAdjustment(X,tracks,cPose,cPara);

I want to do something like

for i = 1:m
W = get_W
camP = cameraParameter(   add_new_W_to_camera_param_somehow   );
end

bundleAdjust(  bundle_adjust_using_all_camera_params / intristic_matrices  );

Answer 1

[Qu Cao]

Since R2019b, you can use an array of cameraIntrinsics objects to represent the intrinsic parameters of a bunch of different cameras:

https://www.mathworks.com/help/vision/ref/bundleadjustment.html?s_tid=doc_ta#d117e136120

[yinghui zhu]

but how can we pass more than one camera intrinsic as a vector form for bundlesadjustment？

[Qu Cao]

You mean create an array of cameraIntrinsics object?

You can do the folowing:

intrinsics1 = cameraIntrinsics([800 800], [320, 240], [480 640]);
intrinsics2 = cameraIntrinsics([800 800], [325, 245], [480 640]);
intrinsics = [intrinsics1; intrinsics2]

intrinsics = 

  2×1 cameraIntrinsics array with properties:

    FocalLength
    PrincipalPoint
    ImageSize
    RadialDistortion
    TangentialDistortion
    Skew
    IntrinsicMatrix