When using the Computer Vision Toolbox and the "stereoParameters" object how do I transform points in camera 1 coordinates to camera 2 coordinates?

When using the Computer Vision Toolbox and the "stereoParameters" object how do I transform points in camera 1 coordinates to camera 2 coordinates?

Answer 1

[MathWorks Support Team]

The equation to go from camera 1 coordinates to camera 2 coordinates is:

R = stereoParameters.RotationOfCamera2;
t = stereoParameters.TranslationOfCamera2;
xyzNew = [x,y,z] *R  + t;

Assuming you are using the "estimateCameraParameters()" function to construct the "stereoParameters" object, you can inspect the source code for the construction of "stereoParameters" by typing in the MATLAB command window:

>> edit estimateCameraParameters.m

And then clicking the link on the line error to open the source code.