3D coordinates

[lambdaloop]

3D coordinates

[SjoerdBruijn]

We finally got this to work, after a lot of fiddling. Will report back in the other tread with a matlab script that converts Simi calibrations to the required calibration.toml file, as well as some manual on how to handle the other stuff. This issue may be closed. Thanks for all the help!!!!

[lambdaloop]

Ah I've seen something like this before and it's often due to imperfect calibration between cameras.
In this case, it's possible that cameras 1 and 2 are calibrated well relative to each other, but camera 3 is not calibrated well relative to 1 and 2.

Have you evaluated your calibration? Check to see if the reprojection error from triangulating with cameras 2 and 3 or cameras 1 and 3 is below 3 pixels.

[SjoerdBruijn]

One related question that we are struggling with; the translation of the camera (as well of the rotation), are these the translation of the camera with respect to world in world coordinates, or the translation of the camera with respect to world in camera coordinates? Same for the rotation. What we have now is both translation and orientation of the camera in world coordinates. Is that correct? (I'm asking as the camera that seems to change things drastically has a very different orientation)

[lambdaloop]

@SjoerdBruijn
Our camera model follows the OpenCV camera model, described nicely here:
https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html

The rotation and translation are specified as what is needed to bring a point from world coordinates in order to camera coordinates. So they're transformations world -> camera.