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On the Portal we can see an Image Tof_LR, TOF_Depth and TOF_conf.. TOF_LR looks like its projecting the tof point cloud into the camera... Is that what is happening ? I would like to know how can I do that.. I believe I would need precisely the Extrinsics of the TOF and the High REs Camera.. is there any source code that shows how this is done ? I need to superimpose the TOF depth data into the camera frame.
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@Caio-Licínio-Vasconcelos-Pantarotto the tof_ir is the IR data from the same imager that the TOF is using to measure depth. So, it's intrinsics are the same as the sensor itself as the sensor is being used to measure the time of flight from the VCSEL.
To calibrate the extrinsics to an RGB sensor, you could use that tof_ir image to view a checkerboard and try to calibrate that way.
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@Moderator On the Starling.. is the TOF point cloud with relation to the high res camera ? or to the center of the body ? Because I believe to project from the point cloud to the high res frame I would need only the intrinsics of the high res and also the position with relation the where the (0,0,0) of the point cloud really is, no ?
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@Caio-Licínio-Vasconcelos-Pantarotto @Moderator I had a similar question, I calibrated the TOF camera using ros cv calibration available online. I wanted to know is there a way possible to generate a aligned depth image, since the TOF and RGB sensors have different resolutions.
Here are the two questions which I asked about the same issue:
https://forum.modalai.com/post/12529
@Darshit-Desai said in VOXL MPA_to_ROS rostopics not subscribing to anything:
@Darshit-Desai said in VOXL MPA_to_ROS rostopics not subscribing to anything:
Is there a way to get camera intrinsic Matrix of the ToF camera. Also, if I want to align the depth image with the RGB image how do I do that?
Hi sorry, I wanted to ask about the intrinsics that was highlighted by mistake. @ben-grocholsky
https://forum.modalai.com/post/12472
@Darshit-Desai said in Voxl2 Camera calibration fails for hires camera:
@Moderator Ok I will try calibrating with the ros method of calibration. I was asking this because I want to make an aligned depth image by combining hires and tof camera like the realsense cameras have. If you could also reply on the following. I am not really sure if Tofs can be calibrated
@Darshit-Desai said in Voxl2 Camera calibration fails for hires camera:
Another Requests: How to do calibration of Time of flight camera or is there a intrinsic matrix?
