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1 | initial version |

Not really an answer but my comment doesn't fit.

I don't know Python well nevertheless I will try to help a little maybe:

- in function
`in_front_of_both_cameras`

, you find the z coordinate using the intersection between the two light rays ? If it is not already done, you could check the formula on simple cases ? - I don't understand this line:
`first_3d_point = np.array([first[0] * first_z, second[0] * first_z, first_z])`

, for me it sould be:`first_3d_point = np.array([first[0] * first_z, first[1] * first_z, first_z])`

. - normally it should be Ok, but you could try to print the rotation and translation values for each configuration to see if the pose check is Ok or not (also if there is one configuration that gives correct values).
- for the Euler angles, what configuration did you use ? Your formula seems for me a little complicated. I use usually for roll, pitch, yaw the configuration Z1Y2X3. You can also use RQDecomp3x3 directly.

2 | No.2 Revision |

Not really an answer but my comment doesn't fit.

I don't know Python well nevertheless I will try to help a little maybe:

- in function
`in_front_of_both_cameras`

, you find the z coordinate using the intersection between the two light rays ? If it is not already done, you could check the formula on simple cases ? - I don't understand this line:
`first_3d_point = np.array([first[0] * first_z, second[0] * first_z, first_z])`

, for me it sould be:`first_3d_point = np.array([first[0] * first_z, first[1] * first_z, first_z])`

. - normally it should be Ok, but you could try to print the rotation and translation values for each configuration to see if the pose check is Ok or not (also if there is one configuration that gives correct values).
- for the Euler angles, what configuration did you use ?
~~Your formula seems for me a little complicated.~~I use usually for roll, pitch, yaw the configuration Z1Y2X3. You can also use RQDecomp3x3 directly.

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