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For a piece of code I need access to all these items. I want to know if the followings sound correct and how to access camera intrinsics using ros realsense topics?
and in the method read_camera_configuration it needs extrinsics, intrinsics, and distortion.
camera extrinsics --> not sure how to acquire this from ros-realsense?
camera intrinsics --> I believe this is intrinsics?? K: [616.056884765625, 0.0, 321.5348815917969, 0.0, 616.2793579101562, 235.87950134277344, 0.0, 0.0, 1.0]
camera distortion --> D: [0.0, 0.0, 0.0, 0.0, 0.0]
^^ is this camera extrinsics? or am I getting it from the wrong topic?
Hi @monajalal As you described above, you can list intrinsics from the camera_info topics (camera/depth/camera_info and /camera/color/camera_info) and extrinsics from /extrinsics/color_to_depth
For a piece of code I need access to all these items. I want to know if the followings sound correct and how to access camera intrinsics using ros realsense topics?
The code is: https://github.com/PyramidHe/PVNet/blob/master/3dome_data_generator/mask_gen.py
and in the method
read_camera_configuration
it needsextrinsics
,intrinsics
, anddistortion
.^^ is this camera extrinsics? or am I getting it from the wrong topic?
I get these:
I also have access to this topic but I am not sure if it is fully related to what I need:
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