Items with no label
Announcements
FPGA community forums and blogs on community.intel.com are migrating to the new Altera Community and are read-only. For urgent support needs during this transition, please visit the FPGA Design Resources page or contact an Altera Authorized Distributor.
3338 Discussions

How can we get translation and rotation matrix for each image(left&right) from Intel RealSense T265 camera ?

SBald8
Beginner
3,393 Views

I am been using Intel RealSense T265 camera, also I have calibrated it. Now I have translation and rotation matrix for checkerboard images and I want to get translation and rotation matrix for each image captured by camera (non- checkerboard images) doing a project on Odometry.

How to configure each image(left+right) as the camera is in motion and have set of 30 images so how to get translation and rotation matrix for all those 30 images(non- checkerboard images).

Can anybody help me solve this problem ?

0 Kudos
4 Replies
MartyG
Honored Contributor III
3,115 Views

The RealSense GitHub forum is the best place to get expert T265 advice. You can post a question there by visiting the link below and clicking the New Issue button.

https://github.com/IntelRealSense/librealsense/issues

​The example program in the link below also has information on getting the rotation and translation and then calculating a matrix from them.

https://dev.intelrealsense.com/docs/rs-trajectory

0 Kudos
SBald8
Beginner
3,115 Views
Thankyou for reply, But after running this code https://dev.intelrealsense.com/docs/rs-trajectory I only get trajectory how to obtain rotation and translation matrix from them ? Please elaborate it would really help me to proceed further in my work. I have attached a picture of working code, but I need to get matrix value of each image . Regards Shivani Baldwa Ming Chi University Of Technology - 84 Gungjuan Rd, Taishan Dist, New Taipei City 24301
0 Kudos
MartyG
Honored Contributor III
3,115 Views

The code below from the linked-to page shows how the matrix is calculated with calc_transform using translation and rotation data gathered with the instructions pose_data.translation and pose_data.rotation

 

void calc_transform(rs2_pose& pose_data, float mat[16])

{

  auto q = pose_data.rotation;

  auto t = pose_data.translation;

  // Set the matrix as column-major for convenient work with OpenGL and rotate by 180 degrees (by negating 1st and 3rd columns)

  mat[0] = -(1 - 2 * q.y*q.y - 2 * q.z*q.z); mat[4] = 2 * q.x*q.y - 2 * q.z*q.w;   mat[8] = -(2 * q.x*q.z + 2 * q.y*q.w);   mat[12] = t.x;

  mat[1] = -(2 * q.x*q.y + 2 * q.z*q.w);   mat[5] = 1 - 2 * q.x*q.x - 2 * q.z*q.z; mat[9] = -(2 * q.y*q.z - 2 * q.x*q.w);   mat[13] = t.y;

  mat[2] = -(2 * q.x*q.z - 2 * q.y*q.w);   mat[6] = 2 * q.y*q.z + 2 * q.x*q.w;   mat[10] = -(1 - 2 * q.x*q.x - 2 * q.y*q.y); mat[14] = t.z;

  mat[3] = 0.0f;               mat[7] = 0.0f;             mat[11] = 0.0f;               mat[15] = 1.0f;

}

 

I am not a T265 specialist though, so the RealSense GitHub is the best place to ask detailed questions about the T265. Thanks!

0 Kudos
SBald8
Beginner
3,115 Views

I was not able to solve above problem, but get x,y,z cordinate so how to change given x-y-z- cordinate's of camera to pose file (which is translation and rotation vector). Ultimately I need pose file for my dataset by realsenseT265 camera , your help would be appreciated.

 

 

0 Kudos
Reply