CODEWITHSUNDEEP
opencvcamera-calibrationcalibration
Paul
Paul

Reputation: 167

Find point world coordinates after calibration in Opencv

is there a function of OpenCV such that with:

provides the corresponding world coordinates of the marker?

Any help is much appreciated. Thanks!

Upvotes: 1

Views: 2267

Answers (1)

Hammer
Hammer

Reputation: 10329

To find the world coordinates of the marker you need its coordinates relative to the camera. If you know the camera pose P relative to the origin and the marker pose M relative to the camera, to get the marker pose relative to the origin you simply multiply them together

final = [P]*[M]

It sounds like you are just struggling with finding M. All you need to do is multiply your position by the inverse of the camera matrix and then by your Z coordinate.

Z*cam_mat.inv()*[x_image,y_image,1] = [x_world,y_world,z_world]

M = [1,0,0,x_world,
     0,1,0,y_world,
     0,0,1,z_world,
     0,0,0,1]

Upvotes: 1

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