main (left) camera transform
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The camera extrinsic transform is relative to the DeviceAnchor.
Does it make sense that the extrinsic translation is just 2 centimetres from the device anchor?
translation = 0.024845406, -0.02110077, -0.057464134
From measuring the camera location on VisionPro, it's definitely more than 2 cm from the "center" of VisionPro
From measuring the camera location on VisionPro, it's definitely more than 2 cm from the "center" of VisionPro
The DeviceAnchor origin is not at the "center" of Vision Pro.
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what is the DeviceAnchor? Is it the location from which virtual content (and camera passthrough) is rendered on the user's display(s)?
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My understanding of a 4 by 4 transformation matrix is that the last column represents the translation, while the first 3 columns represent the local x, y, and z axis. I have plotted the first three columns of the extrinsics matrix and they do not seem to be orthogonal to each other, what are the implications of that? I would expect just a translation and a rotation (without scaling/shearing)
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what is the coordinate system for these intrinsics? based on the first 3 columns, it seems to be x=right, y=down and z=forward. Is that correct?
any help or link to well-written documentation very much appreciated. When I see the following documentation which only tells me the type of extrinsics, and literally nothing else than just the type, I find that insufficient. https://developer.apple.com/documentation/arkit/cameraframe/sample/parameters/4443449-extrinsics
my apologies, they ARE orthogonal to each other, I made a sign mistake in my plotting. Still, I'd be curious to know the coordinate system. Thank you