Extrinsics (camera)

Camera extrinsics define the position and orientation (6-DOF pose) of a camera relative to a reference frame — typically the robot base or end-effector. Together with intrinsic parameters (focal length, principal point, lens distortion), extrinsics allow projecting 3D world points onto the image plane and, conversely, lifting 2D detections into 3D space. Accurate extrinsic calibration is critical for visuomotor policies that must map visual observations to robot actions in a consistent coordinate frame. Eye-in-hand (wrist-mounted) cameras require re-calibration when the end-effector or camera is replaced.