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How to obtain the R and T of the kinect camera?

asked 2011-06-21 16:13:08 -0600

lakshmen gravatar image

updated 2016-10-24 09:05:39 -0600

ngrennan gravatar image

I am not sure how to obtain the Rotation(R) and Translation(T) matrices for the kinect camera. How can i find it?

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answered 2011-06-21 18:11:00 -0600

They are available through the CameraInfoMessage published on /camera/depth/camera_info or /camera/rgb/camera_info

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i can't find the /camera/rgb/camera_info. is it under additional topics?
lakshmen gravatar image lakshmen  ( 2011-06-21 18:18:15 -0600 )edit
It's published when you run the openni_camera node.
Asomerville gravatar image Asomerville  ( 2011-06-21 18:42:05 -0600 )edit
published where? sorry i am blur
lakshmen gravatar image lakshmen  ( 2011-06-21 18:50:43 -0600 )edit
I'm not sure what more to tell you. If you're not familiar with publishing, you probably want to go over the tutorials again.
Asomerville gravatar image Asomerville  ( 2011-06-22 04:06:54 -0600 )edit
Running 'rostopic list' will show you all available topics. I'd definitely recommend the tutorials to get more comfortable with the different ROS tools and concepts <>.
Wim gravatar image Wim  ( 2011-06-22 04:47:44 -0600 )edit
Wim thanks... when i type rostopic echo/camera/depth/camera_info,i get matrices D, K, R and P... what are they for?
lakshmen gravatar image lakshmen  ( 2011-06-23 03:38:12 -0600 )edit
You can find the message documentation if CameraInfo here <>. In general, you can find a link to the message documentation from the package page. So the CameraInfo link is found here <>.
Wim gravatar image Wim  ( 2011-06-23 05:20:46 -0600 )edit

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Asked: 2011-06-21 16:13:08 -0600

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Last updated: Jun 21 '11