3 Replies Latest reply on May 31, 2017 3:04 AM by MartyG

    How to get the extrinsics from color camera to motion module (IMU) for zr300 camera?

    sysier

      I have a realsense zr300 camera used for vision-inertial odometry, in which case the extrinsics matrix from color camera to motion module is needed.

      So how can I get the extrinsics ?

       

      I have tried the function

      dev->get_motion_extrinsics_from(rs::stream::color)

      provided by cross-platform library librealsense. Well the function returns error, I look into the function and find that the error comes from

      throw std::runtime_error("Motion intrinsic is not valid");

      But I can get the motion intrinsics using the function

      dev->get_motion_intrinsics();

      So how to solve the problem? Can I get the extrinsics directly from the library? If not, should I calibrate the extrinsics manually?