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orbbec / OrbbecSDK

Orbbec SDK C/C++ base core lib
https://www.orbbec3d.com/
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Obtain extrinsic parameters #55

Open GabbyYam opened 7 months ago

GabbyYam commented 7 months ago

I'm using Gemini 2 for capturing RGB-D images with Orbbec SDK, but I want to obtain the camera pose directly from the extrinsic parameters without using COLMAP.

How to achieve that?

kaatrasa commented 7 months ago

Hey, I happened to notice this issue and our SDK might be useful for you.

I am not from Orbbec, but we (spectacularAI) have Orbbec device support in our SDK that computes camera poses in real-time: https://spectacularai.github.io/docs/sdk/wrappers/orbbec.html.

We don't have a Gemini 2 device to test with, but it should work with minimal changes. Specifically, we just need the imu->color_camera extrinsics calibration. For this, you can either do the calibration yourself, or send me a calibration sequence as instructed here: https://spectacularai.github.io/docs/sdk/tools/calibration.html

The data can be recorded using this tool: https://spectacularai.github.io/docs/sdk/wrappers/orbbec.html#recording-data with ./sai-record-orbbec --recording_only --no_preview

If you wish to do the calibration yourself, then you can use this approach to set the imu->camera calibration: https://spectacularai.github.io/docs/sdk/wrappers/orbbec.html#unsupported-devices Or, if you send us the calibration sequence, we can add out-of-the-box support for Gemini 2 in our next release.