Questions About Camera Extrinsics

[ymoghadd]

Hi,

In the b2d_infos_train.pkl file, is the 'world2cam' matrix the extrinsics of the camera (consisting of the rotation and translation submatrices)? If so, why is it changing? Thanks.

[zhiyuanzzz]

@ymoghadd World2cam is the transition from the global coordinate to the camera coordinate. It is not the camera extrinsics.

[ymoghadd]

@zhiyuanzzz Thanks. Then where in the data can I get the camera extrinsics, specifically the matrix consisting of the rotation and translation submatrices? I just assumed it was world2cam, since it's also a 4x4 matrix.

[jiaxiaosong1002]

@ymoghadd In our setting, the extrinsics are fixed.