Can I use the outputs of estimateWorldCameraPose to construct a cameraMatrix?
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I am doing visual odometry and I use a stereo camera setup to triangulate world points.
I match these points with points in a subsequent image, and then I want to use estimateWorldCameraPose to estimate the camera pose in a world coordinate system.
This function returns the parameters worldOrientation and worldLocation, which I want to use to construct the cameraMatrix for my next triangulation to get the world coordinates of the points.
My question is: Can I use these parameters directly for the cameraMatrix-function?
This would be the code:
[worldOrientation, worldLocation] = estimateWorldCameraPose(imagePoints, worldPoints, intrinsics);
camMatrix1 = cameraMatrix(intrinsics, worldOrientation, worldLocation);
camMatrix2 = cameraMatrix(intrinsics, worldOrientation, worldLocation + [baseline, 0, 0]);
worldPoints = triangulate(matchedPointsLeft, matchedPointsRight, camMatrix1, camMatrix2);
Thank you!
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