Get Disparity Baseline for D435i
Hi,
The following link list the method to obtain the baseline:
https://dev.intelrealsense.com/docs/api-how-to
rs2_extrinsics e = ir1_stream.get_extrinsics_to(ir2_stream);
auto baseline = e.translation[0];
However, as I use the command rs-enumerate-devices.exe -c to check the value, the baseline obtained from the above method is a negative value. I think the baseline should be positive.
Yixun
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Hi Yxliuwm If you are referring to the translation extrinsic value, all extrinsics going to Infrared2 such as Color to Infrared2 and Depth to Infrared2 have a minus value for their translation when accessed with rs-enumerate-devices -c
This is likely due to the position of the Infrared2 sensor on the end of the camera relative to the position of the Infrared 1 and RGB sensors.
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