How can I get extrinsic camera parameters from the ROS camera_calibration package
I want to get more a more accurate point cloud and uv-mapping for the Softkinetic Depthsense by calibrating the intrinsic and extrinsic parameters of the depthsense using the ROS camera_calibration package.
The output matrices of the camera_calibration package are: 1) Distortion parameters (D) 2) Intrinsic camera matrix (K) 3) Rectification matrix (R) 4) Projection matrix of the processed (rectified) image (P)
The Depthsense SDK has the option to set the camera parameters in the StereoCameraParameters struct.
How do I get the camera pose (extrinsic parameters) from the camera_calibration output (D, K, R and P)?
The projection matrix (P) contains is the projection onto the rectified image. Decomposing this matrix into a translation and rotation would give the extrinsic parameters of the virtual, rectified camera. What I need to set in the Depthsense SDK are the real camera extrinsics.
Hi , I wonder if you have solved this question. I also have the question about how to get the camera extrinsics . And I am desired to get your help. Thanks a lot!