Extrinsic Parameters from ocamcalib

[mrp123]

Hi,

I am trying to use ocamcalib tool to calibrate 180 fov fisheye camera.

How do I get extrinsic parameters from ocamcalib ? I do see RRFin in calib_data as shown below

val(:,:,2) =

   1.0e+02 *

   0.009229117796508  -0.002071518985420  -0.886473786680403
   0.003232336041173   0.008748392930019  -1.110473520630576
   0.002091742913245  -0.004378861751076  -1.990881231143311

 and how to use these extrinsic parameters for test-surround-view test tool in libxcam ?

libxcam expects them to be in the following format

#extrinsic fisheye camera calibration, positions in millimeters, rotations in degrees
#Position x
x
#Position y
y
#Position z
z
#Rotation x (roll)
r
#Rotation x (pitch)
p
#Rotation x (yaw)

y

 

can someone please help ?

Rgds

Mahipal