RGB-D Calibration Data Component

The RGB-D calibration data component stores the rigid transform between the depth and color cameras of an RGB-D sensor pair. It is used together with per-camera camera calibration data components on the color and depth image sets.

Contents

depthToColorT — rigid transform from depth-camera coordinates to color-camera coordinates (4×4 matrix).

Typical use

Attach this component to RGB-D image data processed by algorithms such as Depth Map To Point Cloud, Depth Map To Mesh, and Texturing. Each eye still needs its own intrinsics via the camera calibration data component; the RGB-D component supplies the extrinsic relation between depth and color.