I'm trying to calculate camera paramters and a hand eye calibration (Transformation from camera to eye (display) coordinates) for rendering on a see-through HMD.

I have already calculated a Projection matrix P (using SPAAM) which transforms points in the camera coordinate system to the screen (Tested by custom rendering).

Cause of the used framework (metaio) I can't set the projection matrix directly but have to separately set the camera parameters and Hand Eye calibration for rendering.

Therefore I have extracted the extrinsic (E) and intrinsic (I) camera parameters from the Projection matrix P.

enter image description here

But those are not working correctly when set. The result seems to be not completely off, cause the rendered scale seems to be correct.

I guess I'm missing some additional step I'm not aware of or the extrinsics are not the hand-eye-calibration I'm looking for.

I appreciate any ideas and help.

Additional information:

  • right handed coordinate system with camera looking in negative z axsis, x to the right and y up
  • Since The translation part of HEC on the x- axis has to be positive (known from working configs) (camera is on the right side of the HMD) I assume it's transformation is specified from eye to camera?

PS: Before I realized this stackexchange exist, I have already asked the question here. I got unfortunately no feedback so far.

  • 1
    $\begingroup$ Please don't ask the same question on multiple sites. It means that any answers get spread across different places, making that information harder to find in future. $\endgroup$
    – Dan Hulme
    Mar 9, 2017 at 17:02


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