Comments (2)
Hi,
calibration['H_NP{ii}_from_NP5']
is (somewhat unintuitively, but that's the dataset's notations) the transformation matrix from NP{ii} to NP5 coordinate system. Likewise, poses[kk]['H_table_from_reference_camera']
is the transformation matrix from table coordinate system to NP5. Thus denoting the former T1 and the latter T2, the relative pose for view kk of camera ii is inv(T2)*T1
, and from there you can extract R and t.
Hope this helps.
For myself I improved the wrapper functionality using gtsam, but didn't include it in the repo to avoid it as a dependency. If you're using gtsam I can send you the extended version.
Yuri
from big-bird-wrapper.
Thanks a lot!
from big-bird-wrapper.
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