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

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

Asomerville
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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 ( 2011-06-21 18:18:15 -0600 )edit

It's published when you run the openni_camera node.

Asomerville ( 2011-06-21 18:42:05 -0600 )edit

published where? sorry i am blur

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 ( 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 <http://www.ros.org/wiki/ROS/Tutorials>.

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 ( 2011-06-23 03:38:12 -0600 )edit

You can find the message documentation if CameraInfo here <http://www.ros.org/doc/api/sensor_msgs/html/msg/CameraInfo.html>. In general, you can find a link to the message documentation from the package page. So the CameraInfo link is found here <http://www.ros.org/wiki/sensor_msgs>.

Wim ( 2011-06-23 05:20:46 -0600 )edit

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