`stereoParameters`

takes two extrinsic parameters: `RotationOfCamera2`

and `TranslationOfCamera2`

.

The problem is that the documentation is a not very detailed about what `RotationOfCamera2`

really means, it only says: `Rotation of camera 2 relative to camera 1, specified as a 3-by-3 matrix.`

What is the coordinate system in this case ?

A rotation matrix can be specified in any coordinate system.

What does it exactly mean "the coordinate system of Camera 1" ? What are its x,y,z axes ?

In other words, if I calculate the Essential Matrix, how can I get the corresponding `RotationOfCamera2`

and `TranslationOfCamera2`

from the Essential Matrix ?

Answer:

`RotationOfCamera2`

and `TranslationOfCamera2`

describe the transformation from camera1's coordinates into camera2's coordinates. A camera's coordinate system has its origin at the camera's optical center. Its X and Y-axes are in the image plane, and its Z-axis points out along the optical axis.

Equivalently, the extrinsics of camera 1 are identity rotation and zero translation, while the extrinsics of camera 2 are `RotationOfCamera2`

and `TranslationOfCamera2`

.

If you have the Essential matrix, you can decompose it into the rotation and a translation. Two things to keep in mind. First, the translation is up to scale, so `t`

will be a unit vector. Second, the rotation matrix will be a transpose of what you get from `estimateCameraParameters`

, because of the difference in the vector-matrix multiplication conventions.

Out of curiosity, what is it that you are trying to accomplish? Are you working with a single moving camera? Otherwise, why not use the Stereo Camera Calibrator app to calibrate your cameras, and get rotation and translation for free?

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