## Does the T obtained from the PoseCamera2 in stereo calibration translate Camera 2 in the coordinate system where Camera1’s optical center is the origin, or Camera2’s ?

I want to know the poses and positions of two cameras through stereo calibration. Therefore, I prepared Camera 1 and Camera 2, ran the stereocalibrator in the app, and outputted the result with Camera 1’s optical center as the origin. The results are shown in the first image and values ① and ②. On the other hand, using the same images, I outputted the result with Camera 2’s optical center as the origin, which are shown in the second image and values ③ and ④.

From the first image:

R=[0.745, -0.192, 0.637; 0.188, 0.979, 0.0761; -0.639, 0.0633, 0.766]…①

T=[-1828, -46.8, 57.3]…②

From the second image:

R=[0.745, 0.188, -0.639; -0.192, 0.979, 0.0633; 0.637, 0.0761, 0.766]…③

T=[1406, -311, 1129]…④

Here, I will show the relationship equation taught by a MATLAB staff member before. If the position of Camera 1 is [R1, t1; 0 1], the position of Camera 2 is [R2, t2; 0 1], and PoseCamera2 is [R, T; 0 1], then the following relationship holds.

R1 = R * R2…⑤

t1 = R * t2 + T…⑥

I will verify if ⑥ is satisfied using the first image and ②, but since Camera 2 is not moved to Camera 1, it does not satisfy the equation. Similarly, verifying with the second image and ④, it is also not a reasonable result. However, when verifying with the first image and ④, that is, if you move Camera 2 in the first image by ④ in the coordinate system where Camera 2’s optical center is the origin, Camera 2 moves to the location of Camera 1 in the image. Similarly, if you move Camera 2 in the second image by ②, it aligns with Camera 1.

Additionally, the number of image pairs used during stereo calibration was 30, and the reprojection error was 0.23 pixels from either image.I want to know the poses and positions of two cameras through stereo calibration. Therefore, I prepared Camera 1 and Camera 2, ran the stereocalibrator in the app, and outputted the result with Camera 1’s optical center as the origin. The results are shown in the first image and values ① and ②. On the other hand, using the same images, I outputted the result with Camera 2’s optical center as the origin, which are shown in the second image and values ③ and ④.

From the first image:

R=[0.745, -0.192, 0.637; 0.188, 0.979, 0.0761; -0.639, 0.0633, 0.766]…①

T=[-1828, -46.8, 57.3]…②

From the second image:

R=[0.745, 0.188, -0.639; -0.192, 0.979, 0.0633; 0.637, 0.0761, 0.766]…③

T=[1406, -311, 1129]…④

Here, I will show the relationship equation taught by a MATLAB staff member before. If the position of Camera 1 is [R1, t1; 0 1], the position of Camera 2 is [R2, t2; 0 1], and PoseCamera2 is [R, T; 0 1], then the following relationship holds.

R1 = R * R2…⑤

t1 = R * t2 + T…⑥

I will verify if ⑥ is satisfied using the first image and ②, but since Camera 2 is not moved to Camera 1, it does not satisfy the equation. Similarly, verifying with the second image and ④, it is also not a reasonable result. However, when verifying with the first image and ④, that is, if you move Camera 2 in the first image by ④ in the coordinate system where Camera 2’s optical center is the origin, Camera 2 moves to the location of Camera 1 in the image. Similarly, if you move Camera 2 in the second image by ②, it aligns with Camera 1.

Additionally, the number of image pairs used during stereo calibration was 30, and the reprojection error was 0.23 pixels from either image. I want to know the poses and positions of two cameras through stereo calibration. Therefore, I prepared Camera 1 and Camera 2, ran the stereocalibrator in the app, and outputted the result with Camera 1’s optical center as the origin. The results are shown in the first image and values ① and ②. On the other hand, using the same images, I outputted the result with Camera 2’s optical center as the origin, which are shown in the second image and values ③ and ④.

From the first image:

R=[0.745, -0.192, 0.637; 0.188, 0.979, 0.0761; -0.639, 0.0633, 0.766]…①

T=[-1828, -46.8, 57.3]…②

From the second image:

R=[0.745, 0.188, -0.639; -0.192, 0.979, 0.0633; 0.637, 0.0761, 0.766]…③

T=[1406, -311, 1129]…④

Here, I will show the relationship equation taught by a MATLAB staff member before. If the position of Camera 1 is [R1, t1; 0 1], the position of Camera 2 is [R2, t2; 0 1], and PoseCamera2 is [R, T; 0 1], then the following relationship holds.

R1 = R * R2…⑤

t1 = R * t2 + T…⑥

I will verify if ⑥ is satisfied using the first image and ②, but since Camera 2 is not moved to Camera 1, it does not satisfy the equation. Similarly, verifying with the second image and ④, it is also not a reasonable result. However, when verifying with the first image and ④, that is, if you move Camera 2 in the first image by ④ in the coordinate system where Camera 2’s optical center is the origin, Camera 2 moves to the location of Camera 1 in the image. Similarly, if you move Camera 2 in the second image by ②, it aligns with Camera 1.

Additionally, the number of image pairs used during stereo calibration was 30, and the reprojection error was 0.23 pixels from either image. stereocalibration, calibration, posecamera2, stereoparameters MATLAB Answers — New Questions