# 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

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from calibration grid coordinate system (aka World coordinate system) to the camera calibration system

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Dear All, P=[-306.8843; -263.0437; 0] is a point in space and p = [ 447.3374 ; 487.9971] is a corresponding image observation in pixels.

If 149.2, -53.6, -56.2 are Euler angles about x, y and z axis respectively, T= [ -28.3; -10.4; 1794.3 ] is translation vector, f= 16.5621 is the focal length, c=[ 285.7615; 249.037 ] are coordinate of principal points and aspect ratio is 1

How to construct camera matrix, that give p=[C] * P

Your help will be greatly acknowledged

Thanks

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