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IntelRealSense
How to fix coordinates to the world coordinates?
| Required Info | |
|---|---|
| Camera Model | D435i, T265 |
| Firmware Version | 05.14.00.00 (D435i), 0.2.0.951 (T265) |
| Operating System & Version | Ubuntu 22.04.2 LTS |
| Kernel Version (Linux Only) | 5.14.0-1056-oem |
| Platform | PC |
| SDK Version | v2.53.1 |
| Language | Python |
| Segment | Robot |
Fixing Coordinate System
I want to make some plane calculations relative to the world coordinate system. To do that, I need to fix the coordinates coming from D435i to the world coordinates so that even if the device is rotated and not moved, a point's xyz coordinates stay the same. For example, in normal conditions, if D435i device rotated in the positive yaw direction, a point's x-coordinate decreases since positive x direction is to the right and the device is rotated to the same direction. I want to perform all the calculations for all the rotations (yaw-pitch-roll) and for all the coordinates (x-y-z). How to to that? (Assuming that T265 is available so that yaw-pitch-roll angles are known)
