I am currently calibrating 2D digital camera with 3D tracking system(Optical tracking system or Electromagnetic tracking system).

In most of the literature I studied, First the camera is calibrated with checkerboard pattern then the calibration between camera and the 3D tracking system is obtained by hand-eye calibration technique to get the Rotation and translation. 

I used Direct Linear Transform to calibrate the 3D tracking system and camera. The position and orientation of camera is determined in 3D tracker coordinate frame.  Calibration is done by locating same calibration points in camera frame and 3D tracker frame.

Now if I need to transform a point from 3D tracker frame to camera frame would it be the correct according to the method I used? Can I bypass the Hand -Calibration according to method I used?

I would like to apologize for the long post. Thank you for your precious  time. 

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