Few Questions Regarding Intrinsic and Extrinsic Parameters about record3d HOT 5 CLOSED

Thank you!

from record3d.

I am another enthusiastic user of this app - working great for me!

@zehuiz2 on question 3: extrinsic parameters - take a look at this issue. Also, I believe each row corresponds to each image.

from record3d.

I am another enthusiastic user of this app - working great for me!

@zehuiz2 on question 3: extrinsic parameters - take a look at this issue. Also, I believe each row corresponds to each image.

Thank you! It really helped.

from record3d.

One follow-up question on question 3. Could I understand it this way:

1. The quaternion could be used to restore the 3x3 rotation matrix R. Just to confirm, the elements are ordered as: qw, qx, qy, qz?
2. The world pose is actually the translation vector t. Elements are ordered as tx, ty, tz?
3. With intrinsic parameters K gave, world/camera coordinate transformation is given: X_{cam} = K [R|t] X_{world}

from record3d.

I will first answer your original questions:

1. It should be fused internally by Apple.
2. Similar to 1., Apple should have already taken care of distortion correction.
3. As @areiner222 correctly answered with the link, the poses are stored as a quaternion + world pose.

To answer your follow-up questions:

1. The quaternion is stored as qx, qy, qz, qw.
2. Yes, exactly.
3. I think it should be X_{world} = [R|t] K X_{cam}.

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