This forum is disabled, please visit https://forum.opencv.org
 | 1 | initial version |
Hello:
objectPoints are points expressed in the object coordinate space, for example, for a chess calibration pattern, we can fix a coordinate system in one of the corners of the plane so that the chess board is on the x-y plane an all chess corners have a z-coordinate value of zero. You would supply to the solvePnP function the coordinates of the chess corners expressed in this coordinate system. Notice that for this set of points we haven't used the camera coordinate system.
To transform your current objectPoints to the object coordinate system you have to find the transformation from the camera coordinate system to the object coordinate system. solvePnP will be handy for this. Also, take into account that if you obtain coordinate system C2 by translating coordinate system C1 by T and rotating it by a rotation matrix R , the inverse transformation is given by a rotation by R^t (the transpose) and a translation -RT.
Hope this helps.
