Transform point from C1 to C2 failure

[chaiban]

Hi,

I used two Intel realsense D435 cameras to calibrate. Although Vicalib did not work directly with cameras, it worked by passing left and right camera images.

I got the T_wc transformation matrix. Now my aim is to transform Point in camera 1 to camera2.

coding Process:

1. I selected a pixel in camera 1 image with mouse.
2. Converted that pixel to 3D using aligned depth information from realsense
3. Applied transformation on the point (T_wc * Point)
4. Finally used camera 2 intrinsics to project it to 2D

But the values are completely wrong. What am I doing wrong ?

Thank you for your suggestions.