kalibr

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I am trying to calibrate a 2-camera system, using AprilGrids.

Though the stereo calibration does not converge, this is the matrix that I get:

initialized baseline between cam0 and cam1 to:

[[ 0.86731999  0.10467067 -0.48662108 -0.22621089]
 [-0.11083987  0.9937064   0.01618977  0.00591429]
 [ 0.48525308  0.0398953   0.87346312 -0.09904313]
 [ 0.          0.          0.          1.        ]]

When I measure my camera distances physically, I find that camera 1 is roughly 20cm to the right of camera 0, and camera 1 is around 10 cm behind camera 0, and both cameras are nearly at the same height.

Thus, looking at this, it looks like +ve x is to the left, +ve z is forward. What coordinate system is this exactly? What does +ve y correspond to? It neither seems to follow ROS coordinate system, nor does it follow opencv convention, since OpenCV is +ve x to the right.

How do I get this matrix in OpenCV convention? (i.e. +ve x to the right, +ve y up and +ve z forward).

Thanks,

Hi ShrutheeshIR, did you ever figure this out?

Thanks

i am also not clear on this. I was thinking of +x to the right, +y to the down, +z forward,
but seems like the element at (2, 3) should be 0.09904313 if cam1 behind cam0