Image Registration Value Conversion

Development Asset Creation
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1

I’m trying to understand the translation and rotation values ​​that can be obtained by carrying out an export of the registration. For this, I compare the outputs of the different formats (always using the same coordinate system: same as XMP, without intrinsics correction).

But, I obtain different translation value.

XMP:

<xcr:Rotation>0.424828828177554 -0.13991368492355 0.894396236307153 0.325947976627987 0.945362267612218 -0.0069353808263044 -0.844558099411407 0.294472993237408 0.44722172685637</xcr:Rotation>
<xcr:Position>0.714479148115481 -0.177270951092812 -0.0264891105221016</xcr:Position>

Boujou:

0.4248288281775534 -0.1399136849235504 0.8943962363071527 0.3259479766279875 0.9453622676122183 -6.935380826304462e-003 -0.8445580994114068 0.2944729932374078 0.4472217268563703 -0.3046422104944024 -6.548147643347439e-002 0.6674671647344179 12656.95762373309

#name,x,y,z,omega,phi,kappa
002.JPG,0.7144791481154812,-0.1772709510928123,-2.648911052210164e-002,171.5813330111418,17.12593843801707,117.9027145225503

#name,x,y,z,heading,pitch,roll
002.JPG,0.7144791481154812,-0.1772709510928123,-2.648911052210164e-002,-160.9765071436788,0.3973712362667207,-116.5662610790813

I dont understand the calculated Euler Angles. Beginning with matrice values and using Matlab Euler Conversion, I obtain the following value (depending the different angle prior; XYZ should be equivalent omega, phi, kappa)

XYZ: [x: 0.8884548, y: 63.4309844, z: 18.2288489]
XYZ: [x: 17.3014052, y: 64.5927726, z: 8.0428512]
YXZ: [x: 0.3973713, y: 63.4337392, z: 19.0234925]
YZX: [x: 0.4203267, y: 63.2967327, z: 19.0230174]
ZXY: [x: 17.1259384, y: 62.0972861, z: 8.4186666]
ZYX: [x: 33.3628918, y: 57.6246229, z: 37.4970582]

How are these different value converted ?

2

Hi, in XMP, omega, phi, kappa and heading, pitch, roll there is not a translation, There are coordinates of the image center. 

3

Position or translation, it’s the same thing.

4

It is not the same.

Position is actual position in space (it is defined by coordinates)

Translation is the process of moving something from one place to another (it is defined by vector)

 

5

Ok, whatever, I’m not asking my question to play on the terminology, but to understand the calculated conversions and how the position or translation values ​​are obtained in the different formats, same question for the rotation.

How position in XMP (e.g: <xcr:Position>0.714479148115481 -0.177270951092812 -0.0264891105221016</xcr:Position>) is transformed in boujou in -0.3046422104944024 -6.548147643347439e-002 0.6674671647344179 ?

6

Hi, I am sorry for my previous statement about the position/translation. It could be the same in some cases.

I check the Boujou format and first 9 values are from rotation matrix, then 3 values are for translation (Tx, Ty, Tz) and last value is for focal length in mm.

The difference between translations is because in Boujou format rotation is applied before translation.

Also, you can find more info about XMP Camera Math here.

7

Hi,

That’s no sense. In the two format, translation was apply after the rotation.

What is the conversion method/formula between XMP and boujou ?

What is the conversion method/formula between transformation matrice and omega,phi,kappa (or heading,pitch,roll) ?

I am quite familiar with how the various camera settings work. I just have a problem to understand the exported values.