OpenCV Q&A Forum - RSS feedhttp://answers.opencv.org/questions/OpenCV answersenCopyright <a href="http://www.opencv.org">OpenCV foundation</a>, 2012-2018.Tue, 07 Jun 2016 01:19:52 -0500Rotation and Translation questionhttp://answers.opencv.org/question/95782/rotation-and-translation-question/ I've used OpenCV's calibrateCamera function to give me the rvecs and tvecs to try to get the transformation from that of my camera with world coordinates (0,0,0) to that of a chessboard. I'm using it to find the corners of the chessboard with respect to the camera.
I'm confused as to how to apply the rvec and tvec to get the transformation. Do I just do (0,0,0)*rvec + tvec. If this is the case, how do I invert the transformation, as I'll need this for something else as well?
After doing research online I realized I may have to use the Rodrigues() function to get the rotation matrix from rvec, augment that with the tvec, and then add a row of (0,0,0,1) to get a 4x4 transformation matrix. This way, I would be able to get the inverse. However, If that is the case, how do I multiply that by (0,0,0)? Am I just supposed to do (0,0,0,1)*(rotm|tvec, 0,0,0,1)?
I'm not sure which of the two methods to use, I'm doubtful about how to proceed with either of them.sourmanbTue, 07 Jun 2016 01:19:52 -0500http://answers.opencv.org/question/95782/calibration transformation matriceshttp://answers.opencv.org/question/15882/calibration-transformation-matrices/Hi all,
I am using the OpenCV calibration code from this tutorial:
http://docs.opencv.org/doc/tutorials/calib3d/camera_calibration/camera_calibration.html#cameracalibrationopencv
Here is the arguments list for the calibration function:
***runCalibration(s,imageSize, cameraMatrix, distCoeffs, imagePoints, rvecs, tvecs, reprojErrs, totalAvgErr);***
rvecs and tvecs are essentially the rotational and transnational components of the Homogeneous transformation matrix.
My question is the following:
does the transformation matrix( using rvecs, tvecs) take us from:
**calibration grid coordinate system** to the **camera coordinate system**
or
from **camera coordinate system** to the **calibration grid coordinate system**.
Thanks,
Paul
Paul DoliotisFri, 28 Jun 2013 10:02:55 -0500http://answers.opencv.org/question/15882/