Forum

Author Topic: Camera Pose Estimation from XML file  (Read 1149 times)

apurv.ashish

  • Newbie
  • *
  • Posts: 4
    • View Profile
Camera Pose Estimation from XML file
« on: January 21, 2018, 02:32:45 PM »
Hello,

I would be sorry if this question has already been asked, but honestly, I didn't find anything related in archive. I am trying to estimate the camera pose from the Camera.xml file.  But I have confusion regarding the matrix in the xml file. First there is indidvidual camera transformation matrix as  shown below

Code: [Select]
<camera id="0" label="0000.png" sensor_id="0" enabled="1">
        <transform>8.9348843569377312e-01 -4.4368008724910278e-02 -4.4688913063899943e-01 1.9766637898022192e+00 -1.6367709900043652e-02 -9.9766380613968031e-01 6.6325168612786145e-02 -2.3291474933571729e-01 -4.4878782665545019e-01 -5.1946219503182171e-02 -8.9212727619169052e-01 -2.7808099942816000e-01 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00</transform>
      </camera>
      <camera id="1" label="0001.png" sensor_id="0" enabled="1">
        <transform>9.5153874076534684e-01 -3.0227983301940098e-02 -3.0603969325594976e-01 1.2625875911232747e+00 -4.7417234898363692e-03 -9.9648131819942376e-01 8.3680932941051403e-02 -2.0974993367605752e-01 -3.0749234280066901e-01 -7.8174493954463423e-02 -9.4833391145414569e-01 -9.5240781752597148e-02 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00</transform>
      </camera>
      <camera id="2" label="0002.png" sensor_id="0" enabled="1">
        <transform>9.7916412038711897e-01 -3.3345267837347238e-02 -2.0031404958058824e-01 6.4252028723432442e-01 -2.2792511233811846e-02 -9.9823943913233903e-01 5.4758776396207326e-02 -2.0937419899366866e-01 -2.0178733056903086e-01 -4.9052168898111398e-02 -9.7820026474552535e-01 -1.3275424772011729e-01 0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00</transform>
      </camera>

My questions are:

1. Should I multiply the Rotation matrix with skew, if there is any skew.
2. In which coordinate system the camera pose have been estimated, is it the center of image.
3. What are the last part of xml file represent, shown below :

Code: [Select]
<reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
    <region>
      <center>-4.4246941072257195e-01 1.9355219443093608e-01 -4.1723836479298271e+00</center>
      <size>6.3404785777131707e+00 4.2286109651128445e+00 1.5416034723321594e+00</size>
      <R>-9.4500716140856811e-01 -1.7944434163367950e-02 -3.2655698150411211e-01 -5.3985210360659480e-02 -9.7623781311151414e-01 2.0986979133158748e-01 -3.2256326813330088e-01 2.1595770311291346e-01 9.2158299057510762e-01</R>
    </region>
 


Best Regards
Apurv.