When output extrinsic camera parameters to file(in the part of SavePointCloundPLY), why x_cam=-tx-rz*ty+ry*tz; y_cam=rz*tx-ty-rx*tz;z_cam=-ry*tx+rx*ty+tz? If camera=R(ri)ti, then x_cam=tx-rz*ty+ry*tz; y_cam=rz*tx+ty-rx*tz;z_cam=-ry*tx+rx*ty+tz

[wylsoul]

[hyowonha]

It has to be -R'T. Assuming inv(R) approx R', it can be derived as Cam_center = inv([R, T; 0 0 0 1])[0;0;0;1]

[wylsoul]

Thank you for your reply. If it‘s -R'T, z_cam=-rytx+rxty-tz, but not z_cam=-rytx+rxty+tz.

[hyowonha]

Oh, you're right. I'm going to fix it. Thanks for your comment :)