1 Reply Latest reply on Apr 25, 2018 7:18 AM by MartyG

    Realsense 415 transformation matrix




      I'm using the Realsense 415 camera with the latest sdk c# wrapper,

      I'm trying to figure how to get a transformation matrix from camera coordinate system to world coordinate system.

      any idea?



        • 1. Re: Realsense 415 transformation matrix

          In RealSense SDK 2.0, a "Projection" system is used for coordinates, with two types of projection function: Projection and Deprojection.


          Projection takes a point from a stream's 3D coordinate space, and maps it to a 2D pixel location on that stream's images.  It is provided by the function rs2_project_point_to_pixel.


          Deprojection takes a 2D pixel location on a stream's images, as well as a depth, specified in meters, and maps it to a 3D point location within the stream's associated 3D coordinate space.  It is provided by the function rs2_deproject_pixel_to_point.


          So it sounds like you should use Deprojection for a 2D to 3D coordinate conversion.


          Projection in RealSense SDK 2.0 · IntelRealSense/librealsense Wiki · GitHub


          I do not have a C# script example for the rs2_deproject_pixel_to_point function, though there is discussion about mapping a pixel to a point  that may be useful to you.


          Mapping a Pixel to a 3D Point by Deprojecting