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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
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How to get extrinsics between unrectified and rectified camera stream #5441

Closed princeward closed 4 years ago

princeward commented 4 years ago
Required Info
Camera Model D400
Firmware Version 05.12.00
Operating System & Version Linux (Ubuntu 14/16/17)
Kernel Version (Linux Only)
Platform PC
SDK Version 2.19.0
Language C++
Segment {Robot/Smartphone/VR/AR/others }

Issue Description

In my specific application, I want to find out the extrinsics between the unrectified camera stream and rectified camera stream. I tried the sensor-control tool and am aware of that Y16 is unrectified whist Y8 is rectified.

However, the extrinsics I got from sensor-control between left IR cam Y16 and left IR cam Y8 is identity: Translation: [0,0,0] Rotation Matrix: [1,0,0] [0,1,0] [0,0,0] which shouldn't be true because there should be some transformation as a result of the rectification.

I'm wondering how I can get this information correctly? Thank you for your help!

dorodnic commented 4 years ago

Hi @princeward We do not provide this information as part of our official API. (Officially, we only expose unrectified Y16 for our calibration tools, and recommend all customers to use only the rectified left infrared stream) If you are interested in these calibration details, I recommend following the approach discussed in #5304.