Interpreting the information printed on the screen during extrinsic calibration

[lrob]

Hi,

Thanks for sharing this. I have been trying to use this code to calibrate a USB connected camera. I modified the code to read frames from a v4l2 camera and followed the same instructions suggested in the tutorial for calibrating the intrinsic and extrinsic parameters.

I have some questions about the output printed on the terminal:

• Does the rotation and translation printed on the terminal describe the transformation to be applied to the axes drawn over the marker to obtain the position and orientation of the camera?
• What is the unit of rotation?
• What is the unit of translation?
• Given the translation T = [t1, t2, t3], what is the correspondence between t1, t2 and t3 and the colour of the axes drawn in the picture?

Thank you