Object 3D world coordinates from multiple images

Question

sksk 2022-10-25

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1834703-object-3d-world-coordinates-from-multiple-images

编辑： sksk 2022-10-25

I Want to find Object 3D world coordinates (called Photogrammetry) using coded targets

Using single camera, multiple images

Known

Object 2D image coordinates (x,y) == coded targets
Camera intrinsics, extrinsics parameters (using Calibration Checkerboard)
Camera world pose from each images ( Image 1 : R,t / Image 2 : R,t ••• ) - Extracted R,tvec by camera calibration method

Unknown : Object 3D coordinates (x,y,z) From real scale

i already use worldPoints = triangulate(matchedPoints1,matchedPoints2,camProjection1,camProjection2)

this func and get worldpoints from two images (Using a known distance of length like Ruler)

and the precision was not bad either.

Multiple images, I know TriangulateMultiview and bundleAdjustment

But this func impossible to calculate 3D-coordinates considering the real 'Scale'

How do I get 3D - coordinates that are scaled from multiple images?
Sfm 3d reconstruction can solve this questions?

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Answer 1

Qu Cao 2022-10-25

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https://ww2.mathworks.cn/matlabcentral/answers/1834703-object-3d-world-coordinates-from-multiple-images#answer_1083148

You will need a stereo camera to give you the actual dimension of 3-D objects.

Alternatively,if you know the size of an object in the triangulated 3-D points, you can estimate the scale. See this section of the Structure From Motion From Two Views example.

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sksk 2022-10-25

编辑：sksk 2022-10-25

You will need a stereo camera to give you the actual dimension of 3-D objects.

you mean, single camera using stereo visions and stereo cameras are different?

Alternatively,if you know the size of an object in the triangulated 3-D points, you can estimate the scale.

yes i did it with known the size of an object (Like Ruler)

See this section of the Structure From Motion From Two Views example.

it takes only two views examples and i saw Structure from motion multiple Views on Matlab but i think it can't estimate real scale of object,,, cuz i need both accuracy and precision 3d-coordinates

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