Get Disparity Baseline for D435i
The following link list the method to obtain the baseline:
rs2_extrinsics e = ir1_stream.get_extrinsics_to(ir2_stream);
auto baseline = e.translation;
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.
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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