Image to world projection

Asked Mar 16 '14 at 07:09

Active Mar 16 '14 at 07:09

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I have a RGB image and 8-bit depth data of the same scene from two different cameras and need to generate point cloud in 3D space.

I used this paper to understand how to do it.

As mentioned in Eq. 1 we can find non-homogeneous coordinates of the world point w.r.t a pixel in the image as follows,

enter image description here

Eq. 5 shows how to find the lamda1 as follows,

enter image description here

Then to find the real depth values based on the 8-bit depth values in the depth image, I used the following Eq. 4 from this paper, enter image description here

So, I expected two point clouds generated from the data from two cameras to align with each other since I used the projection matrices, but the points clouds does not coincide with each other and generated awkward results. Could some kindly point out where is the problem is?

asked Mar 16 '14 at 07:09

Huá dé ní 華得尼

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Each camera has its own world origin? – Simson Apr 01 '14 at 19:22
Camera locations are known. I projected back to world coordinates, but those point clouds doesn't match with each other. Is that mean, each camera has its own world origins? – Huá dé ní 華得尼 Apr 02 '14 at 03:35

Image to world projection

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