world coordinates from object detection

asked 2020-09-14 11:00:41 -0600

ncrasta gravatar image

I have stereo camera system and I am running a object detection agoritham in one of the camera. I get the centroids of each detected objects. My question is how to compute their world coordinates? Thanks.

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Please elaborate on 'world coordinates'.

Der Luftmensch gravatar imageDer Luftmensch ( 2020-09-14 11:42:23 -0600 )edit

By world coordinate, I mean the position vector (X, Y, Z) of the object's centroid with respect to the camera frame. Hope it is clear. Thanks.

ncrasta gravatar imagencrasta ( 2020-09-16 01:26:11 -0600 )edit

If the camera is (0,0,0) of your coordinate frame, use cv::reprojectImageTo3D(). This requires the Q matrix from calibration.

Der Luftmensch gravatar imageDer Luftmensch ( 2020-09-16 09:00:43 -0600 )edit

Thanks. Just curious to know how the Q matrix vary with image resize?

ncrasta gravatar imagencrasta ( 2020-09-18 03:45:30 -0600 )edit
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