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I have system with three camera. I have R and T matrix between C1 & C2 also between C2 & C3. How to transform a point from first camera to third camera?

asked 2019-05-15 15:50:52 -0500

I have three cameras (C1, C2, C3). I have calibrated C1 & C2 as one stereo pair(System-1) and C2 & C3 (System-2) as another stereo pair. So in results, I have rotational and translation matrix between C1 & C2 also C2 & C3. After successful reconstruction, I have one 3D point say P(X, Y, Z) using system-1. So my question is how to transform Point P in all three cameras?

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answered 2019-05-20 22:10:34 -0500

balala gravatar image

updated 2019-05-21 22:19:41 -0500

supra56 gravatar image

C1 = R1 * C2 + T1; C2 = R2 * C3 + T2; C1 = R1*(R2 * C3 + T2)+T1; C3 to C1:C1 = R1 * R2 * C3 + R1 * T2+ T1;

the final transform:R = R1 * R2,T = R1 * T2+ T1; of course you should know OpenCV's RT rule.

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answered 2019-05-18 09:40:26 -0500

Tetragramm gravatar image

OpenCV provides the ComposeRT function, which combines two sets of Rotation and Translation transforms.

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Asked: 2019-05-15 15:50:52 -0500

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Last updated: May 21 '19