XML Camera Calibration - document.chunk.transformation.rotation

[mvol12]

Can someone explain what the matrix at document.chunk.transformation.rotation is used for?
I am trying to convert the PS cameras to use in my framework but i am having trouble.
I cannot find any information  about document.chunk.transformation.rotation.

Each camera has a transformation e.g.

Code: [Select]

     
<camera id="12" label="cam-013" sensor_id="0" enabled="true">
        <transform>9.9997412443914413e-01 4.7395041764784294e-03 5.4117975136125217e-03 -9.2433254927978137e-01 -5.0136216477583290e-03 9.9864409866956405e-01 5.1815323895803844e-02 -5.6220771444114165e-03 -5.1588807061540200e-03 -5.1841115850404643e-02 9.9864202027415439e-01 2.7349909493729573e-02 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00</transform>
      </camera>

But the xml camera file also has

Code: [Select]

    <transform>
      <rotation>1.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00 -9.9999996706979655e-01 2.5663282309985533e-04 0.0000000000000000e+00 -2.5663282309985533e-04 -9.9999996706979655e-01</rotation>
    </transform>


[Alexey Pasumansky]

Hello mvol12,

Chunk transformation matrix should be use to convert the coordinates from the internal coordinate system (all the camera centers, marker positions, region center are in this system) to geocentric coordinate system if chunk is georeferenced or to the local coordinate system if chunk is referenced in the Local coordinates.