在 cv2.stereoCalibrate 中选择哪个相机作为原点?
What camera is chosen as the origin in cv2.stereoCalibrate?
我正在尝试校准两个立体相机,当我使用 cv.stereoCalibrate 时,它会给我一个 3 x 3 旋转矩阵和一个 1 x 3 平移向量。但我不确定这里选择哪个相机作为原点。本质上,翻译向量是否描述了相机 1 从相机 2 或相机 2 从相机 1 的翻译。我觉得文档缺少一些细节。
文档说:
R Output rotation matrix. Together with the translation vector T, this matrix brings points given in the first camera's coordinate system to points in the second camera's coordinate system. In more technical terms, the tuple of R and T performs a change of basis from the first camera's coordinate system to the second camera's coordinate system. Due to its duality, this tuple is equivalent to the position of the first camera with respect to the second camera coordinate system.
换句话说,输出 (R, T) 对描述了坐标变换,使得给定一个 3D 点 p 及其在相机 1 坐标中的分解 p_1,并且 p_2在Camera 2的坐标中是:
p_2 = R * p_1 + T
R的纵列为Camera 1坐标系在Camera 2坐标系中分解的X、Y、Z单位向量,T为Camera 1坐标系在Camera 2坐标系中表示的中心位置。
我正在尝试校准两个立体相机,当我使用 cv.stereoCalibrate 时,它会给我一个 3 x 3 旋转矩阵和一个 1 x 3 平移向量。但我不确定这里选择哪个相机作为原点。本质上,翻译向量是否描述了相机 1 从相机 2 或相机 2 从相机 1 的翻译。我觉得文档缺少一些细节。
文档说:
R Output rotation matrix. Together with the translation vector T, this matrix brings points given in the first camera's coordinate system to points in the second camera's coordinate system. In more technical terms, the tuple of R and T performs a change of basis from the first camera's coordinate system to the second camera's coordinate system. Due to its duality, this tuple is equivalent to the position of the first camera with respect to the second camera coordinate system.
换句话说,输出 (R, T) 对描述了坐标变换,使得给定一个 3D 点 p 及其在相机 1 坐标中的分解 p_1,并且 p_2在Camera 2的坐标中是:
p_2 = R * p_1 + T
R的纵列为Camera 1坐标系在Camera 2坐标系中分解的X、Y、Z单位向量,T为Camera 1坐标系在Camera 2坐标系中表示的中心位置。