transform 2 point clouds (2 cameras) to same origin

asked 2015-09-17 07:06:13 -0500

Dezintegrator gravatar image

Hello, I get camera pos matrix K(4x4) = [R|t]; last row = [0,0,0,1] I don't understand how convert point cloud from camera coor. system to world coor. system?

I just apply my camera pos matrix to cloud. But I think it is wrong.
pcl::transformPointCloud (*cloud, *transformed_cloud2, K);

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Comments

You have your camera pose matrix:

cMo = (r11 r12 r13 tx
       r21 r22 r23 ty
       r31 r32 r33 tz
       0    0   0  1).

You have pt_in_camera_coord = cMo * pt_in_object_coord.

You want to know pt_in_object_coord: pt_in_object_coord = (cMo)^1 * pt_in_camera_coord.

Eduardo gravatar imageEduardo ( 2015-09-18 04:49:08 -0500 )edit