Given the extrinsics from the MATLAB camera calibrator.

and **R**

are the distance and orientation of the target coordinate system relative to the camera and in camera coordinates.
**T**

We want the distance and orientation of the camera coordinate system relative to the target and in target coordinates.

k = 4; location = -T(k,:)*R(:,:,k)'/12

The location was converted from inches to feet. The camera calibrator was told that the checker square size was 3 inches.

location = 1.9881 12.6505 -9.5675

The magneta marker notes the camera center (from intrinsics matrix)

Maintained by John Loomis,
last updated *14 February 2017 *