CODEWITHSUNDEEP
c++opencvcamera-calibrationpose-estimation
van
van

Reputation: 17

Pose estimation clarification

I am using open cv c++ for estimating the pose of the object. And I am a beginner in pose estimation. I am getting confused with few terms.

Basically, if the object is in movement and camera is stationary, the external parameters( rotation and translation) belongs to the object. That is, the R and T is the object's rotation and translation. so, it is the object's pose.

Whereas Viceversa, if the camera is in movement and object is stationary, the R and T represents the camera's rotation and translation. so, it is the camera's pose.

So, why do all the forums generalise by saying the camera's pose instead of knowing the scenario whether the camera/object is stationary?

Upvotes: 0

Views: 282

Answers (1)

musgani19
musgani19

Reputation: 11

the reason why do all the forums generalise by saying the camera's pose instead of knowing the scenario whether the camera/object is stationary or not is:

it is the same case where camera / object is moving towards one another. more like perspective problem that depend on which point of view you want to use.

once you declare the the center of the coordinate system and subsequently, the object coordinate in the real world and in images and you know the internal camera parameters.

you will get the pose in R and T. solvePnP in opencv can give you the pose but you have to be careful with your choice of coordinate systems to interpret the solvePnP result.

Upvotes: 1

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