Rs-Enumerate does not give units with extrinsics

[geoeo]

Required Info
Camera Model	D400
Firmware Version	2.41
Operating System & Version	{Win 10
Platform	PC/
SDK Version	{ 2.4}
Language	compiled tool
Segment	photogrammetry

Issue Description

The rs-enumerate tool gives the extrinsics between sensors, which is great(!), but does not give units (which is not great!). Its really important to give the user this information as well otherwise the whole procedure is useless.

Is it meters, cm? pixels?

Best, Marc

[MartyG-RealSense]

Hi @geoeo Rotation is in the form of a 3x3 rotation matrix, and the translation between physical sensors is expressed in the meters unit.

[MartyG-RealSense]

Hi @geoeo Do you require further assistance with this case, please? Thanks!

[geoeo]

It would also be nice to have an image showing the axes. Theres something floating around for the d435i, but im not sure its official.

[MartyG-RealSense]

I recalled that I had provided a link to such a diagram before. It is in the link below. As you say though, it is not official.

https://github.com/IntelRealSense/librealsense/issues/7568#issuecomment-708358084

There is an official D435i illustrated description of the relationship between IMU and depth sensor in the Intel IMU guide linked to below.

https://www.intelrealsense.com/how-to-getting-imu-data-from-d435i-and-t265/

[geoeo]

yes something official like

for the realsense would be nice

[MartyG-RealSense]

I have added a Documentation tag to this case so that your request for an official diagram of the translation between all sensors like the unofficial one above can be considered by the RealSense team. This case should be kept open in the meantime. Thanks!

[geoeo]

Reopened this as per your comment. Thanks! Ideally the diagram should also include the transform distances between the sensors. At the moment you have to access a lot of different sources/programs for a complete view of the setup

[MartyG-RealSense]

Thanks very much for the update!