Extrinsics matrix after cv::StereoCalibrate

asked 2012-08-01 15:29:31 -0600

BobR
11 ●1

Hi all,

I have two cameras (2 kinects specifically) and I am using cv::StereoCalibrate to compute the position and orientation of Kinect2 relative to Kinect1. The function returns (among others), the rotation matrix R and the translation vector T.

Is the final transformation matrix given by E = [R | T] (meaning, I just use the rotation and the translation as is to compose the matrix -and then transform it to homogeneous 4x4-) or I should do something else? (Like E = [R | -R^(-1)*T] which I saw somewhere).

What I want to do is multiply the Kinect2 point cloud with this matrix to register the two point clouds.

Thanks so much

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answered 2012-11-27 09:30:51 -0600

Simone
372 ●2 ●3 ●12

If you are using StereoCalibrate with Kinect1 as Camera1 and Kinect2 as Camera2 then the transformation between the two cameras is [R|t], meaning that if you have 3D points Q in the reference system of the first camera, then Q'=[R|r]*Q are the same points expressed in the reference system of the second camera.