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orbbec / OrbbecSDK

Orbbec SDK v1&v2 Pre-Compiled Repo
https://www.orbbec3d.com/
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IMU camera extrinsic is there? #151

Open hplegend opened 4 weeks ago

hplegend commented 4 weeks ago

" device = device_list.get_device_by_index(i) pipeline = Pipeline(device)

    ret : CameraParamList = device.get_calibration_camera_param_list()
    print(ret.get_camera_param(0))

" I use above code print calibration camera, and the result as following: <OBCameraParam depth_intrinsic < fx=504.507fy = 504.528 cx =326.349 cy=343.595 width=640 height=576 > depth_distortion < k1=16.1704 k2=8.44953 k3=0.324469 k4=16.4805 k5=13.9441 k6=1.99604 p1=5.92792e-05 p2=-1.46558e-05 > rgb_intrinsic < fx=498.295fy = 497.981 cx =315.49 cy=248.908 width=640 height=480 > rgb_distortion < k1=0.076085 k2=-0.107371 k3=0.0443615 k4=0 k5=0 k6=0 p1=-0.000475228 p2=0.000330378 > transform < rot=[0.993813, 0.000713588, -0.00148801, -0.00054392, 0.993814, 0.111057, 0.00155805, -0.111056, 0.993813] transform=[-32.5317, -1.03079, 1.90774]

Is "transform" represent IMU depth extrinsic?

zhonghong322 commented 3 weeks ago

Which device are you using?

hplegend commented 3 weeks ago

Which device are you using?

Femto Bolt. Futhermore, When I set S2W align, pipeline.get_camera_param() return params show transform matrix is a identity matrix, is reasonable?