I need to get the extrinsic parameters from the infrared1 sensor space to the color senso space for D435i camera. I want to confirm if the rotation matrix is a column-major matrix as stated in the rs_sensor.h?
typedef struct rs2_extrinsics
float rotation; /**< Column-major 3x3 rotation matrix */
float translation; /**< Three-element translation vector, in meters */
I am confused why use the column-major matrix rather than the row-major matrix.
Does this mean I have to transpose the rotation matrix first if I want to transform a point from the infrared1 sensor space to the color space as follows?
//P_color is a point in the color sensor space, P_infrared1 is a point in the infrared1 space
P_color = R^T * P_infrared1 + T
Please sign in to leave a comment.