Rotation Matrix in camera calibration.

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Girin Chutia
Girin Chutia 2020-3-12
评论： Zeqi Wang 2021-7-14
I am trying to find out camera matrix and other parameters for single camera using calibration app. The rotation matrix i am getting is 3*3*5. What does it means for single camera, as i understand for single camera the world coordinate and camera coordinate is same so the rotation matirx should be a unitary matrix but i am not getting it as a unitary matrix. Please someone clarify.

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回答（1 个）

Raynier Suresh
Raynier Suresh 2020-3-17
A rotation matrix is a 3-by-3 matrix, the rotation matrix together with the translation vector allows you to transform points from the world coordinate to the camera coordinate system. You are getting a 3x3x5 because you have 5 pattern images. For each pattern image you will get a rotation matrix.
The below links has explained this clearly:
https://www.mathworks.com/help/vision/ref/cameraparameters.html#d118e109373
https://www.mathworks.com/help/releases/R2017a/vision/ref/extrinsics.html#bt9eb6w-5
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Jacob Hardy-King
Jacob Hardy-King 2021-3-25
Hi, I've got the same issue where my rotational matrix is a 3x3xn, and the translational vector is a 1x3xn. I'm looking to get both of these in the correct format to use the function "pointsToWorld" (a (3x3) for rotational matrix and a (1x3) for translational matrix).
At the moment I have been finding the average of the 3x3 across the n images for the rotational matrix, and finding the average of the 1x3 across the n images for the translational matrix. Is this the correct method to do this?
Currently the average rotational matrix that I am calculating is not orthogonal and is producing errors.
Any help would be much appriciated.
Zeqi Wang
Zeqi Wang 2021-7-14
Hi there, I have exactly the same problem as yours when I am trying to use the StereoParams for rectification. I need to extract the rotation matrix (3x3) and translation vector (1x3) of left camera and right camera to my rectification process, while the Rotation Matrices is 3x3xn and Translation Vectors is 1x3xn here. How did you solve this problem?
So much appreciation in ahead.

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