Creating stereoParameters class in Matlab: what coordinate system should be used for relative camera rotation parameter?
stereoParameters takes two extrinsic parameters: RotationOfCamera2 and TranslationOfCamera2.
The problem is that the documentation is a not very detailed about what RotationOfCamera2 really means, it only says: Rotation of camera 2 relative to camera 1, specified as a 3-by-3 matrix.
What is the coordinate system in this case ?
A rotation matrix can be specified in any coordinate system.
What does it exactly mean "the coordinate system of Camera 1" ? What are its x,y,z axes ?
In other words, if I calculate the Essential Matrix, how can I get the corresponding RotationOfCamera2 and TranslationOfCamera2 from the Essential Matrix ?
RotationOfCamera2 and TranslationOfCamera2 describe the transformation from camera1's coordinates into camera2's coordinates. A camera's coordinate system has its origin at the camera's optical center. Its X and Y-axes are in the image plane, and its Z-axis points out along the optical axis.
Equivalently, the extrinsics of camera 1 are identity rotation and zero translation, while the extrinsics of camera 2 are RotationOfCamera2 and TranslationOfCamera2.
If you have the Essential matrix, you can decompose it into the rotation and a translation. Two things to keep in mind. First, the translation is up to scale, so t will be a unit vector. Second, the rotation matrix will be a transpose of what you get from estimateCameraParameters, because of the difference in the vector-matrix multiplication conventions.
Out of curiosity, what is it that you are trying to accomplish? Are you working with a single moving camera? Otherwise, why not use the Stereo Camera Calibrator app to calibrate your cameras, and get rotation and translation for free?
- Plotting a function inside a polygon in Matlab
- Slow image loading R using EBImage
- Doxygen cannot see `m2cpp` filter inside of container
- Problem with return when calling a python function within matlab
- MATLAB using unicode characters in MATLAB GUI
- How to divide a matrix in MATLAB into N^2 segments each with NxN elements?
- Does Branch coverage implies Condition Coverage?
- mesh - Matrix dimensions must agree
- Segmenting Shortest Paths in Simple Virtual Reality Map Images
- Getting Matlab handles events or properties
- Connection through COM port between host and guest in VirtualBox
- Stochastic Gradient Descent for Logistic Regression always returns a cost of Inf and weight vector never gets any closer
- Data format for Libsvm SVR training in Matlab
- Nested functions don't recognize input
- Symbolic simplification to least number of plus and multiply operations
- Using Renderscript convolution on a specific location of bitmap
- Is it possible to define more than one function per file in MATLAB, and access them from outside that file?
- How to insert NULL values into a SQLite database table using MATLAB?
- Calculate Dynamic range of an Image?
- How do I update pixelClassificationLayer() to a custom loss function?
- How to normalize a matrix of 3-D vectors
- How to calculate Gradient 'direction' (not magnitude) of image along x and y axis in matlab?
- Sum row values when first column data is equal
- Construct adjacency matrix in MATLAB
- R: Error Running Convex Optimization With CVXR
- Accents not displaying in GitLab
- Add Additional Legends for Specific Bar Colors in MATLAB Bar Chart
- how to print the size of a matrix in a print statement?
- how to operate on a Matlab vector A with a condition from vector B and a condition from the values of vector A
- Evalute cell array of anonymous functions with different arity