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I believe Rt is just a standard transform matrix describing the camera movement between the two frames. It's not a projection matrix.

I like to convert Rt to an Eigen::Affine3f for use with non-opencv libraries:

Eigen::Matrix4f mat;
cv::cv2eigen(matrix44, mat);
Affine3f incrementalaAffine(RtMatrix);

I believe Rt is just a standard transform matrix describing the camera movement between the two frames. It's not a projection matrix.

I like to convert Rt to an Eigen::Affine3f for use with non-opencv libraries:

Eigen::Matrix4f mat;
cv::cv2eigen(matrix44, mat);
Affine3f incrementalaAffine(RtMatrix);
incrementalAffine(RtMatrix);

If you want to estimate the total camera movement, you need to integrate the frame-to-frame movements as you go:

pose = incrementalAffine * pose;