I am working with spherical image representation. I have the following camera pose information:
[pose.rotation.x, pose.rotation.y, pose.rotation.z, pose.rotation.w], [pose.translation.x, pose.translation.y, pose.translation.z].
I suppose the first step to do here is find the camera intrinsic matrix? The other input I have is a panoramic image (stitched together using images taken from the above mentioned camera). The panorama comes with the following information:
[image width, image height, pixel width, pixel height].
I want to map the camera and the panorama in terms of spherical or cartesian coordinates in a common coordinate system.