We are doing research about different camera calibration techniques, and we are investigating the results we get from the calibration using the Motive::Tracker OptiWand calibration. We are using V120:SLIM cameras with 58 degree FOV lenses. We use active markers in our setup; we converted the calibration wand and ground plane to use active LEDs.
I did the following:
1. I did a wanding calibration session in Motive. I saved the calibration file, opened it using the Motive SDK and output the camera positions, orientation matrices and distortion properties
2. I did a wanding session and output the 2D data (precision mode) to try and triangulate using the above parameters
There are a couple of problems/uncertainties I would like to solve.
The first strange thing we noticed is that if we plot the cameras in matlab using the positions and orientations retrieved from the SDK, the cameras seem to be pointing in the opposite direction that they should be. How should the rotation matrix be interpreted? What is the coordinate system? This is the plotted image: Second, the intrinsic properties retrieved using
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Thanks in advance for any answers. Also, if there is any more available information about the calibration / triangulation process of unlabelled markers that you could share, I would be very thankful!