Calculate Camera extrinsics from single checkerboard image with known extrinsics

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Vincent K 2019-1-22

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https://ww2.mathworks.cn/matlabcentral/answers/440823-calculate-camera-extrinsics-from-single-checkerboard-image-with-known-extrinsics

Hello,

I have succesfully calculated my camera intrinsics with the single camera calibration app and now I want to make a position and posture estimation to determine the position of my camera in my setup. For that I have several pictures of a checkerboard, where I precisely measured the position and the orientation of the checkerboard. Now I only need to calculate my camera extrinsics from that images. I don't want to use estimateCameraParameters though, since the intrinsics I already calculated are far more precise. Is there any easy way with Matlab to estimate the extrinsics with known intrinsics or do I have to write the algorithm myself?

Thanks in advance!