structure-from-motion

Camera pose estimation: How do I interpret rotation and translation matrices?

谁说胖子不能爱 提交于 2019-11-30 04:30:11
Assume I have good correspondences between two images and attempt to recover the camera motion between them. I can use OpenCV 3's new facilities for this, like this: Mat E = findEssentialMat(imgpts1, imgpts2, focal, principalPoint, RANSAC, 0.999, 1, mask); int inliers = recoverPose(E, imgpts1, imgpts2, R, t, focal, principalPoint, mask); Mat mtxR, mtxQ; Mat Qx, Qy, Qz; Vec3d angles = RQDecomp3x3(R, mtxR, mtxQ, Qx, Qy, Qz); cout << "Translation: " << t.t() << endl; cout << "Euler angles [x y z] in degrees: " << angles.t() << endl; Now, I have trouble wrapping my head around what R and t

Camera pose estimation: How do I interpret rotation and translation matrices?

我的梦境 提交于 2019-11-29 01:13:54
问题 Assume I have good correspondences between two images and attempt to recover the camera motion between them. I can use OpenCV 3's new facilities for this, like this: Mat E = findEssentialMat(imgpts1, imgpts2, focal, principalPoint, RANSAC, 0.999, 1, mask); int inliers = recoverPose(E, imgpts1, imgpts2, R, t, focal, principalPoint, mask); Mat mtxR, mtxQ; Mat Qx, Qy, Qz; Vec3d angles = RQDecomp3x3(R, mtxR, mtxQ, Qx, Qy, Qz); cout << "Translation: " << t.t() << endl; cout << "Euler angles [x y z