I have got images ,intrinsics and extrinsics. I want to fuse the depthmap to cloud point.
Intrinsics and extrinsics are in Meter. But I need to convert them to Pixel so that I can apply them to my other projects. And the Instrinsics coordinate is located at the center of the image. I also need to move it to the top-left corner. Principal point is at the center of the image, too. I have struggled with this for a long time. I don't know how to move the intrinsics coordinate, how to convert to Pixel and how the extrinsics change after moving the intrinsics coordinate.
Any response will be greatly appreciated!!
