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one point (u,v) to actual (x,y) w.r.t camera frame?


I am detecting center of circle and getting (u,v) of that coordinates in Image. Now I want this (u,v) into actual world coordinates (x,y) w.r.t to camera_frame. I do not need z coordinate.

How can I get this? what is the possible way to do this?

I could not found anything relevant to this. I have my camera calibration matrix.