Cameras extrinsics

[RaduCorcodel]

Hi,

I'm trying to create a depth-to-color aligned image stream, similar to what the Realsense driver can do if you do roslaunch realsense2_camera rs_rgbd.launch. I tried launching the kinova_vision_rgbd.launch from kortex_vision but I only get a registered pointcloud; which is good but I need to go one step further and create an aligned dept stream. For this I would need both cameras intrinsics (which we have) but I also need the extrinsics and I have no idea where to get that from. Could you help me with that?

Thank you.

Best, Radu

[felixmaisonneuve]

Hi @RaduCorcodel,

You can retrieve extrinsics parameters using our API with VisionConfig GetExtrinsicParameters call (doc). We also provide an example of exactly that : https://github.com/Kinovarobotics/kortex/blob/master/api_cpp/examples/500-Gen3_vision_configuration/02_vision_extrinsics.cpp

Similar function and code example can be found for intrinsics as well

Hope this helps, Felix

[MQ-D-729]

你好

我正在尝试创建一个深度与颜色对齐的图像流，类似于实感驱动程序在执行此操作时可以执行的操作。我尝试从kortex_vision启动，但我只得到了一个注册的点云;这很好，但我需要更进一步，创建一个对齐的部门流。为此，我需要两个相机的内在（我们有），但我也需要外在的，我不知道从哪里得到它。你能帮我吗？roslaunch realsense2_camera rs_rgbd.launch``kinova_vision_rgbd.launch

谢谢。

贝斯特， 拉杜

你好，请问你对齐了深度和颜色图像流吗，我也在创建深度与颜色对齐的图像流。想看看你对齐的效果。希望能得到点提示