solvepnp(), transformation output from which coordinate system?

asked 2014-01-21 07:30:28 -0600

Davinci
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updated 2014-01-21 09:47:11 -0600

The documentation of solvepnp is a bit unclear to me. Is the output tvec (translation) the distance from the checkerboard to the camera coordinate system? And rvec the rotation of the camera coordinate system relative to the checkerboard coordinate system?

In other words how can I use the rvec and tvec to get the position of the checkerboard frame in the camera coordinate system?

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answered 2014-01-22 01:59:29 -0600

JohannesZ
419 ●1 ●2 ●14

rvec and tvec are standing for the transformation from the object coordinate system to the camera coordinate system. It is also called a rigid motion. You need to use the formula of ridriguez to build a rotation matrix from rvec. then, you can combine the rotation matrix and translation vector to a 4X4 matrix for exmaple.