Coordinate frame transformation from NED to OpenCV convention, and the Pinhole Camera Model

asked 2020-08-02 12:28:00 -0500

leafdet gravatar image

updated 2020-08-02 12:30:14 -0500

Hello, I'm working on an SFM module where I have camera coordinates wrt a world coordinate system (in NED). I have the calibrated camera intrinsics matrix, and with the R,T of the camera wrt world, I compute the Projection matrix (intrinscs matrix * R|T) for each image, and camera position. However, I'm not sure if this Projection matrix is right since the R|T is in NED, and openCV uses a different convention.I'm trying to use the CV::SFM::triangulatePoints, but I'm not getting consistent results. How will this affect the projection matrix, and is the conversion of the poses to the OpenCV frame necessary?

edit retag flag offensive close merge delete

Comments

mind telling us, what NED is ? ;)

with the R,T of the camera wrt world,

no such thing as a "world" here. do you mean the R,t Mat's from calibration ? they're camera <--> chessboard, and somehow useless for further svm calculations

berak gravatar imageberak ( 2020-08-02 12:50:54 -0500 )edit
1

@berak NED is the North East Down convention. It's a very commonly used convention in drones, or aerospace :). In the Pinhole Camera Model, the camera's position has a R|T wrt some origin in the world (https://www.sciencedirect.com/topics/...)

leafdet gravatar imageleafdet ( 2020-08-03 02:07:24 -0500 )edit