3D coordinates in a camera frame

asked 2020-01-19 13:20:34 -0500

marko1990 gravatar image

Hello all,

I have searching for some time now, but I can't find the solution. I have been wondering, let say I have a camera which is publishing a sensor_msg to the certain image topic and I would like to process this image to get the 3D coordinates(for example in meters) of the objects points in the camera frame. To do this I assume I would need 2 cameras and would need to know the orientation of both cameras in relation to each other, right? Then from these images, I would need to get point cloud and from point cloud I would need to get the 3D coordinates in the frame of one of these cameras? Also I would like to get these coordinates in the physical values, that actually represent the distance in real world, for example in meters. I have seen there are a lot of the 3D model libraries, which one would you advise me to use? PCL library is outdated? Open3D?

Thanks in advance

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