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Compute extrinsic parameters for a given intrinsic parameters RRS feed

  • General discussion

  • Hi,

    I have to calculate the Extrinsic parameters based on Kinect V2 intrinsic parameter. In kinectV2 sensor, we could get intrinsic parameters like fx,fy,cx,cy  coefficients. But i want to find extrinsic parameter values based on my kinect intrinsic parameters.

     How can i do. Please help me.

     

    Thanks in  advance.


    kirubha


    Tuesday, December 23, 2014 11:14 AM

All replies

  • I will quote two methods:

    1. Take a random cluttered scene. do simultaneous dumping of the colour and IR image as well as the  xyz pointcloud (IR Camera coordinates). Find SIFT correspondences between these images, refine the correspondences using fundamental matrix (openCV), use this refined set of points and matching 3d points to find the extrinsic parameters using solvePnP function (openCV).

    2. (If SIFT does not work) Take a number of simultaneous dumpings (color + IR) images of checker board patterns in different coordinates along with the corresponding point cloud (in IR coordinates). Use the matched checkerboard patterns and corresponding X Y Z point clouds in solvePNP function (OpenCV).

    Tuesday, March 24, 2015 2:52 PM