CODEWITHSUNDEEP
opencvcoordinate-systemscoordinate-transformation
zdczdcc
zdczdcc

Reputation: 119

Compute transformation between points given in two coordinate frames

I have two world coordinate systems, such as coorA, coorB. Each system has 4 points (3D points with xyz), and both in right-hand coordinate system.

I have tried it with cv::svd, but the result wasn't right. I want to calculate the rotation and translation matrix from coorA to coorB. How do I do that?

Upvotes: 2

Views: 2161

Answers (1)

SpamBot
SpamBot

Reputation: 1458

Your system is over-defined, therefore you should use a method that minimizes an error measure. A good solution is Umeyama's method.

Judging from your tags, you prefer a solution within OpenCV, but there you would need to implement such method yourself. You seem to be using C++, the easiest solution is probably to use the Eigen math header libraries and its function Eigen::umeyama. OpenCV can do data conversions to Eigen.

Upvotes: 3

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