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Hello, I'm working on an SFM module where I have camera coordinates wrt a world coordinate system (in NED). I have the calibrated camera intrinsics matrix, and with the R,T of the camera wrt world, I compute the Projection matrix (intrinscs matrix * R|T) for each image, and camera position. However, I'm not sure if this Projection matrix is right since the R|T is in NED, and openCV uses a different convention.I'm trying to use the CV::SFM::triangulatePoints, but I'm not getting consistent results. How will this affect the projection matrix, and is the conversion of the poses to the OpenCV frame necessary?

Hello, I'm working on an SFM module where I have camera coordinates wrt a world coordinate system (in NED). I have the calibrated camera intrinsics matrix, and with the R,T of the camera wrt world, I compute the Projection matrix (intrinscs matrix * R|T) for each image, and camera position. However, I'm not sure if this Projection matrix is right since the R|T is in NED, and openCV uses a different convention.I'm trying to use the CV::SFM::triangulatePoints, but I'm not getting consistent results. How will this affect the projection matrix, and is the conversion of the poses to the OpenCV frame necessary?