How to get the extrinsic parameters between left rgb and left thr?

[JialeiXu]

Thank you for your work！ According to your code: ext_NIR2THR = np.concatenate([calib['R_nir2thr'], calib['T_nir2thr']0.001], axis=1) # mm -> m scale conversion. ext_NIR2RGB = np.concatenate([calib['R_nir2rgb'], calib['T_nir2rgb']0.001], axis=1) ext_THR2NIR = np.linalg.inv(np.concatenate([ext_NIR2THR, [[0,0,0,1]]],axis=0)) ext_THR2RGB = np.matmul(np.concatenate([ext_NIR2RGB, [[0,0,0, 1]]],axis=0), ext_THR2NIR) ext_RGB2NIR = np.linalg.inv(np.concatenate([ext_NIR2RGB, [[0,0,0,1]]],axis=0)) ext_RGB2THR = np.linalg.inv(ext_THR2RGB)

I get the ext_RGB2THR, can it express extrinsic parameters from left rgb to left thr?

[UkcheolShin]

Yes, it indicates the extrinsic parameter from left RGB to left thermal camera.

[JialeiXu]

Thanks