Transformation Matrix from stereo Depth to RGB

Kleo

Hi! I just found this forum and hope it's the right place to ask, since I've not been able to answer this question myself. I didn't seem to find the answer on the forum either.

I was wondering if there is a way for me to get the transformation matrix from stereo depth to rgb camera? I was looking around and found a calibration reader with which it's possible to read out "Transformation matrix of where left (or right) Camera is W.R.T right Camera's optical center", but I do not know how to get the matrix that I need. Does anyone have any idea or suggestion how I could maybe do this or where I should rather look? Thanks!

jakaskerl

Kleo
The algorithms for depth on-device are closed source, you can check how OpenCV does it. We have an example here.

Thanks,
Jaka

Kleo

jakaskerl

Hi again,

I am thinking that maybe I didn't really formulate my question well. So I'll try again.

I am looking for the extrinsic matrix mapping from depth into rgb coordinates. The reason for this is because I need it specifically here:

I need the matrix for InfiniTam and the screenshot is from their technical report. The yellow coloured matrix is essentially what I am looking for, however the one in the screenshot is not for the OakD.

The link for the example above does not help me further, as I don't need the algorithm for depth and I already calculate depth from disparity.

Thanks again!

Kleo

jakaskerl

Kleo
luxonis/depthai-pythonblob/main/examples/calibration/calibration_dump.py

The extrinsics between LEFT (default depth origin) and RGB is what you need.

Thanks,
Jaka