Cameras
Front & Rear Cameras (OAK-D Pro Wide)
Model & references
- Model: OAK-D Pro Wide
- Product: Luxonis OAK-D Pro Wide
- Intrinsics / extrinsics: Luxonis calibration docs
Field of view (FOV)
- Stereo (depth)
- 150° / 127° / 79.5° (DFOV / HFOV / VFOV)
- RGB camera
- IMX378: 120° / 95° / 93° (DFOV / HFOV / VFOV)
- OV9782: 150° / 127° / 79.5° (DFOV / HFOV / VFOV)
Base-to-camera transform matrices (TF)
| Camera | RGB TF | Depth TF |
|---|---|---|
| Front Camera | [ 0.0000 0.0000 1.0000 0.388031 ]
[ -1.0000 0.0000 0.0000 0.000000 ]
[ 0.0000 -1.0000 0.0000 0.037764 ]
[ 0.0000 0.0000 0.0000 1.000000 ]
| [ 0.0000 -1.0000 0.0000 0.388031 ]
[ 0.0000 0.0000 -1.0000 -0.037500 ]
[ 1.0000 0.0000 0.0000 0.037764 ]
[ 0.0000 0.0000 0.0000 1.000000 ]
|
| Rear Camera | [ 0.0000 0.0000 -1.0000 -0.388031 ]
[ 1.0000 0.0000 0.0000 0.000000 ]
[ 0.0000 -1.0000 0.0000 0.037764 ]
[ 0.0000 0.0000 0.0000 1.000000 ]
| [ 0.0000 0.0000 -1.0000 -0.388031 ]
[ 1.0000 0.0000 0.0000 0.037500 ]
[ 0.0000 -1.0000 0.0000 0.037764 ]
[ 0.0000 0.0000 0.0000 1.000000 ]
|
Ground-view Camera (Intel RealSense D430)
Model & references
- Model: Intel RealSense D430
- Product / specifications: Intel D430 product page
Base-to-camera transform matrices (TF)
| Camera | Depth TF |
|---|---|
| Camera 0 | [ -0.939693 0.000000 0.342020 0.364620 ]
[ 0.000000 1.000000 0.000000 0.000000 ]
[ -0.342020 0.000000 -0.939693 -0.026630 ]
[ 0.000000 0.000000 0.000000 1.000000 ]
|
| Camera 1 | [ -0.970296 0.000000 -0.241922 0.260530 ]
[ 0.000000 1.000000 0.000000 0.000000 ]
[ 0.241922 0.000000 -0.970296 -0.047590 ]
[ 0.000000 0.000000 0.000000 1.000000 ]
|
| Camera 2 | [ -1.000000 0.000000 0.000000 -0.195150 ]
[ 0.000000 1.000000 0.000000 0.006500 ]
[ 0.000000 0.000000 -1.000000 -0.048320 ]
[ 0.000000 0.000000 0.000000 1.000000 ]
|
| Camera 3 | [ 0.861341 -0.0909518 -0.499820000 -0.352993 ]
[ -0.105042 -0.9944680 -5.69736e-05 -1.1e-050 ]
[ -0.497050 0.0525513 -0.866129000 -0.020514 ]
[ 0.000000 0.0000000 0.000000000 1.000000 ]
|