Q :
Compared to real-world coordinates, the calculated x-axis values are similar, but why are the y and z-axis values always lower?
Could you please review the code for any issues?
If it's normal, what could be the problem? Is it a limitation of the stereo system? Would using a ToF camera solve the problem?
### 0.1 Environment
#### 0.1.1 Working environment
#### 0.1.2 Estimate Camera Pose
### 0.2 Working code
Please refer to the linked files
### 0.3 Test
stereo config
- median Filter size : 7
- postProcess : On or Off
The tests below are only a few of dozens of tests recorded.
#### 0.3.1 Test1
- real world coord : [0.238x, 0.14x, 0.000x]
- estimated world coord with no undistortion : [0.2386 0.1349 -0.0033]
- estimated world coord with undistortion : [0.2385 0.1349 -0.0033]
#### 0.3.2 Test2
- real world coord : [0.11x, 0.13x, 0.04x]
- estimated world coord with no undistortion : [0.1106 0.1079 0.0361]
- estimated world coord with undistortion : [0.1109 0.1081 0.0359]
#### 0.3.3 Test3
- real world coord : [0.21x, 0.17x, 0.035x]
- estimated world coord with no undistortion : [0.2136 0.1448 0.0012]
- estimated world coord with undistortion : [0.2136 0.1449 0.0012]
### 0.4 Test Result
#### 0.4.1 comment
- The calculated x-axis values are similar to the actual values,
- but the y and z-axis values are always smaller than the actual values.
#### 0.4.2 printed log
```
Camera to world transformation:
[[-0.9986 0.0011 -0.0531 0.2284]
[ 0.0398 0.6765 -0.7353 0.7383]
[ 0.0351 -0.7364 -0.6756 0.5011]
[ 0. 0. 0. 1. ]]
World to camera transformation:
[[-0.9986 0.0398 0.0351 0.1811]
[ 0.0011 0.6765 -0.7364 -0.1307]
[-0.0531 -0.7353 -0.6756 0.8936]
[ 0. 0. 0. 1. ]]
Rotation vector:
[[ 0.0346]
[ 2.8321]
[-1.244 ]]
Translation vector:
[[ 0.1811]
[-0.1307]
[ 0.8936]]
Depth Value: 0.866 @ [1112, 376]
일반 월드 좌표는 : [ 0.0883 0.0356 -0.0048]
비왜곡 처리 월드 좌표는 : [ 0.0886 0.0358 -0.0051]
Depth Value: 0.784 @ [842, 486]
일반 월드 좌표는 : [ 0.2376 0.1343 -0.0025]
비왜곡 처리 월드 좌표는 : [ 0.2375 0.1343 -0.0025]
Depth Value: 0.784 @ [840, 488]
일반 월드 좌표는 : [ 0.2386 0.1349 -0.0033]
비왜곡 처리 월드 좌표는 : [ 0.2385 0.1349 -0.0033]
Depth Value: 0.784 @ [1094, 394]
일반 월드 좌표는 : [0.1106 0.1079 0.0361]
비왜곡 처리 월드 좌표는 : [0.1109 0.1081 0.0359]
Depth Value: 0.775 @ [890, 494]
일반 월드 좌표는 : [0.2136 0.1448 0.0012]
비왜곡 처리 월드 좌표는 : [0.2136 0.1449 0.0012]
```
