Question Regarding Parameter Notation

[sean-afshar]

What is the explicit usage of the rotation matrix, intrinsics matrix, translation vector, and distortion parameters? For example, let us denote the intrinsics matrix, rotation matrix, translation vector as camera A as K, R, and t respectively. Is the proper camera matrix calculation K[R | t] or K[R^{-1} | R^{-1}t]? Furthermore, how do you transform from the world frame to another camera frame properly? Given world frame coordinates for an object, X, is the transformation to the camera frame RX + t, R(X + t), R^{-1}(X +t), etc...? Also, which distortion parameters correspond to tangential and radial distortion etc...?

[sean-afshar]

Just following up on this @oliver-batchelor @ardiya .

[chunniunai220ml]

Just following up on this @oliver-batchelor @ardiya .

I have leaned from web, but. I got another error:
cv2.error: OpenCV(4.5.2) /private/var/folders/24/8k48jl6d249_n_qfxwsl6xvm0000gn/T/pip-req-build-7jsmxh8y/opencv/modules/calib3d/src/calibration.cpp:3350: error: (-210:Unsupported format or combination of formats) objectPoints should contain vector of vectors of points of type Point3f in function 'collectCalibrationData'

and. my board.yaml as follow:
boards:
charuco_11x16:
type: charuco
size: [11, 16]
aruco_dict: 4X4_1000

square_length: 0.025
marker_length: 0.01875

min_rows: 3
min_points: 20 

print the board.image on A3
the more images in cam file, the more accurate calibration?

[ericleonardis]

What is the explicit usage of the rotation matrix, intrinsics matrix, translation vector, and distortion parameters? For example, let us denote the intrinsics matrix, rotation matrix, translation vector as camera A as K, R, and t respectively. Is the proper camera matrix calculation K[R | t] or K[R^{-1} | R^{-1}t]? Furthermore, how do you transform from the world frame to another camera frame properly? Given world frame coordinates for an object, X, is the transformation to the camera frame RX + t, R(X + t), R^{-1}(X +t), etc...? Also, which distortion parameters correspond to tangential and radial distortion etc...?

I am also wondering the same thing.