13 Replies Latest reply on Oct 5, 2017 6:55 AM by DDGVFUK

    Transformation between Depth, IR and POINTS doesn't match on SR300

    kazoo_kmt

      I'm using SR300 and trying to get the correct transformation between the color camera and the depth(=IR) camera. I expected that the depth, IR and point clouds streams are all based in the same coordinate system or in the identical transformation, but I noticed that they are slightly different. Please see the following output which I got from `rs_extrinsics`.

       

      Please see the following output which I got from `rs_extrinsics`. The transformations from the color stream to the depth/IR/point clouds are all different. Shouldn't they be the same? Which transformation should I use to do the extrinsic calibration? If anyone saw this issue before, please leave comments too.

       

      - From RS_STREAM_COLOR to RS_STREAM_DEPTH

      rotation [[ 0.99999791  0.00196758 -0.0005486 ]

      [-0.001966    0.99999398  0.00285708]

      [ 0.00055421 -0.00285599  0.99999577]]

      translation [[-0.02549983]

      [-0.00113199]

      [-0.00392998]]

       

      - From RS_STREAM_COLOR to RS_STREAM_INFRARED

      rotation [[ 0.99999791  0.00196758 -0.0005486 ]

      [-0.001966    0.99999398  0.00285708]

      [ 0.00055421 -0.00285599  0.99999577]]

      translation [[-0.02549983]

      [-0.00113199]

      [-0.00392998]]

       

      - From RS_STREAM_COLOR to RS_STREAM_POINTS

      rotation [[ 1.  0.  0.]

      [ 0.  1.  0.]

      [ 0.  0.  1.]]

      translation [[-0.02549983]

      [-0.00113199]

      [-0.00392998]]

       

      - From RS_STREAM_DEPTH to RS_STREAM_POINTS

      rotation [[ 0.99999791 -0.001966    0.00055421]

      [ 0.00196758  0.99999398 -0.00285599]

      [-0.0005486   0.00285708  0.99999577]]

      translation [[ 0.]

      [ 0.]

      [ 0.]]

       

      - From RS_STREAM_COLOR to RS_STREAM_COLOR_ALIGNED_TO_DEPTH

      rotation [[ 0.99999791  0.00196758 -0.0005486 ]

      [-0.001966    0.99999398  0.00285708]

      [ 0.00055421 -0.00285599  0.99999577]]

      translation [[-0.02549983]

      [-0.00113199]

      [-0.00392998]]

       

      - From RS_STREAM_COLOR to RS_STREAM_DEPTH_ALIGNED_TO_COLOR

      rotation [[ 1.  0.  0.]

      [ 0.  1.  0.]

      [ 0.  0.  1.]]

      translation [[ 0.]

      [ 0.]

      [ 0.]]