Conversion of Camera Calibration Data

[aubeena007]

Hi team, I need help converting the following camera calibration data into the required format for use with xtreme1.

{
    "rgb_center": {
        "type": "camera",
        "uri": "rgb_center",
        "stream_properties": {
           "intrinsics_pinhole": {
              "camera_matrix": [
                  4609.471892628096, 0.0, 1257.158605934, 0.0, 0.0,
                  4609.471892628096, 820.0498076210201, 0.0, 0.0, 0.0, 1.0,0.0
              ],
              "distortion_coeffs": [-0.0914603, 0.605326, 0.0, 0.0, 0.417134],
              "width_px": 2464,
              "height_px": 1600
           }
        }
    },
    "coordinate_systems": {
        "rgb_center": {
            "type": "sensor",
            "parent": "base",
            "pose_wrt_parent": {
                "translation": [0.0669458, -0.000911152, 2.05432],
                "quaternion": [0.00193374, -0.00293566, 0.00271082, 0.99999]
            }
        }
    }
}

Please help me convert this data into the cameraInternal and cameraExternal formats for use with xtreme1.

[jaggerwang]

Please refer this issue #244 first.