Openni2 drivers linux vs windows

asked 2017-06-15 03:58:28 -0600

adr_arroyo gravatar image

Hello, so I am trying to use the windows calibration tool of Orbbec for my cameras (Astra and Astra S), which uses Openni2 as far as I understand. The output in windows looks like the following:

[Left Camera Intrinsic]

575.494 0 316.497

0 578.135 258.283

0 0 1

[Right Camera Intrinsic]

516.406 0 320.664

0 518.586 247.01

0 0 1

[Right to Left Camera Rotate Matrix]

0.999831 -0.00405498 0.0179308

0.00417956 0.999967 -0.00691574

-0.0179022 0.00698951 0.999815

[Right to Left Camera Translate]

5.36509 0.297889 1.28789


But in the drivers of Linux (using also Openni2) the values are like:

image_width: 640

image_height: 480

camera_name: "depth_Astra_Orbbec"

camera_matrix:

rows: 3

cols: 3

data: [586.0295803105151, 0, 325.1107120728067, 0, 585.5541564977655, 242.3986130691661, 0, 0, 1]

distortion_model: plumb_bob

distortion_coefficients:

rows: 1

cols: 5

data: [-0.03292964909879049, 0.08060137821556344, -0.001139453780851402, 0.007361020257652488, 0]

rectification_matrix:

rows: 3

cols: 3

data: [0.999831, -0.00405498, 0.0179308, 0.00417956, 0.999967, -0.00691574, -0.0179022, 0.00698951, 0.999815]

projection_matrix:

rows: 3

cols: 4

data: [586.5491943359375, 0, 328.8950540238802, 0, 0, 589.6646118164062, 241.3611304274491, 0, 0, 0, 1, 0]

How do I transform from the first parameter values in windows to the second ones in linux? Why is there this difference?

Regards

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