I have used the camera pose to project 3d mesh to 2d image plane. But the result is not correct. I used kinfu.getCameraPose() to get R,T and the following code to :
Affine3f cam2vol = pose.inv() * camera_pose;
to get cam2vol ,and then cam2vol.inv() is the vol2cam transform. With the camera Matrix (intr.fx, intr.fy, intr.cx, intr.cy) to do projection. but the result is not correct.
Which transform the camerapose and pose represented? What is the relation among volume coordinate system , world coordinate system or camera coordinate system?
What's the problem?
thanks
It seems the camera poses returned by kinfu_.getCameraPose() is not right:
I have used the camera pose to project 3d mesh to 2d image plane. But the result is not correct. I used kinfu.getCameraPose() to get R,T and the following code to : Affine3f cam2vol = pose.inv() * camera_pose; to get cam2vol ,and then cam2vol.inv() is the vol2cam transform. With the camera Matrix (intr.fx, intr.fy, intr.cx, intr.cy) to do projection. but the result is not correct.
Which transform the camerapose and pose represented? What is the relation among volume coordinate system , world coordinate system or camera coordinate system?
What's the problem? thanks
It seems the camera poses returned by kinfu_.getCameraPose() is not right: