extrinsics

k4a_calibration_extrinsics_t k4a_calibration_t::extrinsics[K4A_CALIBRATION_TYPE_NUM][K4A_CALIBRATION_TYPE_NUM]

Extrinsic transformation parameters.

The extrinsic parameters allow 3D coordinate conversions between depth camera, color camera, the IMU's gyroscope and accelerometer. To transform from a source to a target 3D coordinate system, use the parameters stored under extrinsics[source][target].