如何计算一个摄像机相对于第二个摄像机的外部参数？ [英] How to calculate extrinsic parameters of one camera relative to the second camera?

问题描述

我已经针对一些世界坐标系校准了2个摄像机。我知道它们中的每一个相对于世界框架的旋转矩阵和平移向量。从这些矩阵如何计算一个摄像机相对于另一个摄像机的旋转矩阵和平移向量？

I have calibrated 2 cameras with respect to some world coordinate system. I know rotation matrix and translation vector for each of them relative to the world frame. From these matrices how to calculate rotation matrix and translation vector of one camera with respect to the other??

任何帮助或建议。谢谢！

Any help or suggestion please. Thanks!

推荐答案

先将旋转矩阵转换为旋转向量。现在你有2个3d矢量为每个摄像机，称为A1，A2，B1，B2。您需要的所有4个关于某个原点O.您需要的规则是

First convert your rotation matrix into a rotation vector. Now you have 2 3d vectors for each camera, call them A1,A2,B1,B2. You have all 4 of them with respect to some origin O. The rule you need is

A relative to B = (A relative to O)- (B relative to O)

将此规则应用于2个向量，它们相对于彼此的姿势。

Apply that rule to your 2 vectors and you will have their pose relative to one another.

有关将旋转矩阵转换为欧拉角的文档可以在这里以及许多其他地方。如果您使用openCV，则只需使用 Rodrigues 即可。 这里是我找到的一些matlab / octave代码。

Some documentation on converting from rotation matrix to euler angles can be found here as well as many other places. If you are using openCV you can just use Rodrigues. Here is some matlab/octave code I found.

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