The rotation matrix of the extrinsic for D435i
Hi,
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[9]; /**< Column-major 3x3 rotation matrix */
float translation[3]; /**< Three-element translation vector, in meters */
} rs2_extrinsics;
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
Thanks.
Yixun
-
Hi Yxliuwm The official SDK documentation page link below states extrinsic rotation to be column-major.
https://intelrealsense.github.io/librealsense/python_docs/_generated/pyrealsense2.extrinsics.html
row-major can be used for finding the extrinsics between two separate RealSense devices, like in the 400 Series (Infrared1) to T265 (Pose) in the documentation below.
I am not aware of a need to perform a transpose.
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