Rotation Matrix of D455

• MartyG

  • March 08, 2021 12:35
  • Edited

  Hi Somusundram R  Information about the Rotation and Translation vectors can be found in the Extrinsic camera parameters section of the SDK's Projection documentation.

  https://dev.intelrealsense.com/docs/projection-in-intel-realsense-sdk-20

  This section highlights C++ scripting from a section of the SDK's sensor-control example program to get the translation vector and rotation matrix.

  https://github.com/IntelRealSense/librealsense/blob/5e73f7bb906a3cbec8ae43e888f182cc56c18692/examples/sensor-control/api_how_to.h#L277

  If you are using Python, the link below refers to the official pyrealsense2 documentation for translation and rotation.

  https://intelrealsense.github.io/librealsense/python_docs/_generated/pyrealsense2.extrinsics.html

  This Python reference may also be useful:

  https://www.programmersought.com/article/34085475880/

  When talking about setting extrinsics in the SDK, this typically refers to setting the extrinsics between two different sensors.  

  http://docs.ros.org/en/kinetic/api/librealsense2/html/rs_8cpp.html#adb29ac578b0c95362fc1f6370b6366e9

   

  If you are working with a 3D box shape on a plane, the references in this link about plane-fit may be more relevant to your needs.

  https://support.intelrealsense.com/hc/en-us/community/posts/360050894154-plane-detection

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• Somusundram R

  • March 08, 2021 16:10

  Thanks Marty G,
  
  

  Another question :
  
  https://www.youtube.com/watch?v=l-i2E7aZY6A
  
  I wanted to do automatic box detection and volume estimation like above. I plan to use OpenVino together with D455 to find shapes (most probably a courier boxes) in an open space without the need of special floor or contours as reference. You know, predicting from the bounding box area and from there find the ends of the box

  
  I am bit curious. When i was looking at L515 with DIM weight software, i saw few files of OpenVino within the installation. Can you or do you know anything on this like in example getting the trained datasets etc?

  Thanks MartyG

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• MartyG

  • March 08, 2021 17:11

  If you have questions about the L515 model or the L515's Dimensional Weight Software then please create a new case on this forum so that RealSense specialists in those subjects can assist you.

  In regard to volumetric box measurement with RealSense and OpenVINO: this is an approach that has been used in a commercial box dimensioning product. 

  https://support.intelrealsense.com/hc/en-us/community/posts/360044001733/comments/360011147394

  I am not aware of an open-source example of volumetric measurement with RealSense 400 Series and OpenVINO though.

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