# Revision history [back]

### Relative marker position

Hello, I am using solvePNP to compute the poses relative to two planar markers. The markers 0-1 are identical, say more or less like two checkerboards. My final goal is that I want to calculate the marker 1 coordinates relative to marker 0.

I have pose P0=[R0 t0], pose P1=[R1 t1]. I have calculated those based on equal 3D point coordinates for both poses, since the markers are identical.

Now I want to get the 3D transformation that brings 3D points of one marker to 3D points on the other marker, so that I know the relative positions of the markers.

I know I can calculate a transform which converts the pose relative to marker 1 to a pose relative to marker 0 as such: T01 = [R0 t0] [R1-1 -R1-1t1] = [R0R1-1 -R0R1-1t1+t0]. With this I can transform a generic pose P2 relative to marker 1 and get the pose from marker 0: P2_0=T01*P2.

How do I use this information to get the trasnform from marker 0 coordinates to marker 1?

### Relative marker position

Hello, I am using solvePNP to compute the poses relative to two planar markers.

The markers 0-1 are identical, identical and both visible in the same frame, say more or less like two checkerboards. My final goal is that I want to calculate the marker 1 coordinates relative to marker 0.

I have pose P0=[R0 t0], pose P1=[R1 t1]. Please note that the poses are calculated for the same image, so they are in fact the same pose relative to two different markers. I have calculated those based on equal 3D point coordinates for both poses, since the markers are identical.

Now I want to get the 3D transformation that brings 3D points of one marker to 3D points on the other marker, so that I know the relative positions of the markers.

I know I can calculate a transform which converts the pose relative to marker 1 to a pose relative to marker 0 as such: T01 = [R0 t0] [R1-1 -R1-1t1] = [R0R1-1 -R0R1-1t1+t0]. With this I can transform a generic pose P2 relative to marker 1 and get the pose from marker 0: P2_0=T01*P2.

How do I use this information to get the trasnform from marker 0 coordinates to marker 1?

 3 None berak 32993 ●7 ●81 ●312

### Relative marker position

Hello, I am using solvePNP to compute the poses relative to two planar markers.

The markers 0-1 are identical and both visible in the same frame, say more or less like two checkerboards. My final goal is that I want to calculate the marker 1 coordinates relative to marker 0.

I have pose P0=[R0 t0], pose t0], pose P1=[R1 t1]. t1]. Please note that the poses are calculated for the same image, so they are in fact the same pose relative to two different markers. I have calculated those based on equal 3D point coordinates for both poses, since the markers are identical.

Now I want to get the 3D transformation that brings 3D points of one marker to 3D points on the other marker, so that I know the relative positions of the markers.

I know I can calculate a transform which converts the pose relative to marker 1 to a pose relative to marker 0 as such: such:

T01 = [R0 t0] [R1-1 -R1-1t1] -R1-1*t1] = [R0R1-1 -R0R1-1t1+t0].
[R0*R1-1 -R0*R1-1*t1+t0]


With this I can transform a generic pose P2 relative to marker 1 and get the pose from marker 0: P2_0=T01*P2.

0:

P2_0=T01*P2.


How do I use this information to get the trasnform from marker 0 coordinates to marker 1?