"Where" is my camera when tracked e.g. via aruco

asked 2019-04-30 07:57:11 -0500

c__p gravatar image

Hey there,

I'm pretty new to the whole camera thing, so please bear with me:

I have calibrated my camera and with some effort got a reprojection error of about 0,38.

Now I'm tracking an aruco marker board and inversing its transformation to get the camera's pose in "world space". The marker is lying on the floor and is my "world origin".

My question: Where exactly is this camera point in relation to e.g. my camera's sensor or its lens? My guess is it's the focal point, but even if it is I don't know how to calculate it.

(For context: In the end what I'm trying to achieve is to use this process to calibrate two rotary sensors tracking the camera's orientation in two axes. Then I'll overlay the camera image with AR without relying on optical tracking.)

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