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我发现了一些关于相机坐标系(点坐标)的不同描述
下面的图片是我在这个页面中认为是相机坐标的点坐标的解释 RealSense SDK 2.0中的投影·IntelRealSense / librealsense Wiki·GitHub 但是红色下划线关于点坐标的解释与英特尔实感查看器显示的不同(下图) 两个坐标系是一样的吗? 谢谢 !! 以上来自于谷歌翻译 以下为原文 I found some different descriptions about the camera coordinate system(point coordinate) The pic below is the explanation of points coordinates which I consider as camera coordinate in this page Projection in RealSense SDK 2.0 · IntelRealSense/librealsense Wiki · GitHub But the explanation with red underline about point coordinates is different from what Intel RealSense Viewer shows (the pic below) is the two coordinate system same ? Thank you !! |
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4个回答
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在3D模式下,您可以通过查看在您平移相机时变得可见的模糊3D投影线来更好地了解相机的透视图。
Ir投射视野,该视野从相机成像器原点的一个点开始,并向各个方向向外扩展。 因为很难看到这些线条,所以我在我的艺术软件中追踪它们以更好地说明它们。 无论相机从其视角看什么,流上的Z深度箭头都朝向前方。 因此,Z距离将是正的,因为检测到的Z随着物体沿箭头方向远离相机而增加。 不可否认,如果Y-down =正数,我对Y箭头的方向没有解释。 以上来自于谷歌翻译 以下为原文 In 3D mode, you can get a better idea of the camera's perspective by looking at the faint 3D projection lines that become visible if you pan the camera around. Ir projects a field of view that starts at a point at the camera's imager origin and widens outwards in all directions. Because the lines are hard to see, I traced over them in my art software to illustrate them better. The Z-depth arrow on the stream faces forward at whatever the camera is looking at from its perspective. So Z-distance will be positive because the detected Z increases as an object moves away from the camera, in the direction of the arrow. Admittedly, I do not have an explanation for the direction of the Y arrow if Y-down = positive. |
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nywerwer 发表于 2018-10-19 18:52 因此,当我获得某些对象的3D坐标时,Viewer中的坐标系统无关紧要。 是对的吗? 以上来自于谷歌翻译 以下为原文 So the coordinate system in the Viewer doesn't matter when I get my 3D coordinates of some objects . Is that right? |
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依靠脚本输出的3D XYZ坐标肯定会更容易。 您无法从3D模式下的查看器中的屏幕箭头获得更多有意义的信息,因为 - 与2D模式不同 - 没有坐标读数。 以上来自于谷歌翻译 以下为原文 It would definitely be easier to rely on 3D XYZ coordinates output by a script. You can't get much meaningful information from the on-screen arrows in the Viewer in 3D mode, since - unlike 2D mode- there is not a coordinate readout. |
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nywerwer 发表于 2018-10-19 19:09 好的,非常感谢 ! 以上来自于谷歌翻译 以下为原文 okay, Thank you very much ! |
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