Calibrating the depth and color camera

[mohamedhassanmus]

Hi @msavva

I am trying to register the depth and rgb frames in the dataset. I managed to find what it seems to be the depth sensor intrinsics in https://github.com/msavva/pigraphs/blob/db88ee585a3b34a878661dba22f85bc1a6c6cefd/Vizzer/constants.h#L16

But I can't find the rgb sensor intrinscis or the extrinsics between the two sensors. Would you be able help with that? Thanks in advance.

[msavva]

Hi @MohameHassan , apologies for the delay. You can find OpenCV calibration files in the archive here: https://github.com/msavva/pigraphs/releases/download/v1.0/sensor-calibration.zip The RGB-D sequences were captured using the "kinect-one" sensor.

[hangg7]

@MohameHassan I just came across the same issue. Have you solved this problem?

[hangg7]

@MohameHassan @msavva More specifically, I cannot find the right transition matrix between IR and RGB camera. I tried to use the suggested parameter [-0.0254, -0.00013, -0.00218] found in here but it didn't work. Any suggestion is appreciated.

[mohamedhassanmus]

Hi @hangg7 I went through the same problem and I don't think these parameters have been computed in the first place. So your best chance is some parameters from the internet. I have collected a similar dataset myself and tried to avoid this problem and might release it soon. You can keep in touch.