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

asked 2011-06-21 16:13:08 -0500

lakshmen gravatar image

updated 2016-10-24 09:05:39 -0500

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 -0500

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 imagelakshmen ( 2011-06-21 18:18:15 -0500 )edit
It's published when you run the openni_camera node.
Asomerville gravatar imageAsomerville ( 2011-06-21 18:42:05 -0500 )edit
published where? sorry i am blur
lakshmen gravatar imagelakshmen ( 2011-06-21 18:50:43 -0500 )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 imageAsomerville ( 2011-06-22 04:06:54 -0500 )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 gravatar imageWim ( 2011-06-22 04:47:44 -0500 )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 imagelakshmen ( 2011-06-23 03:38:12 -0500 )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 gravatar imageWim ( 2011-06-23 05:20:46 -0500 )edit

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Asked: 2011-06-21 16:13:08 -0500

Seen: 196 times

Last updated: Jun 21 '11