Positions of the camera

I was working on a project to get depth from the monocular cameras. There are some ideas which require me to know the exact height of the camera. I was unable to find the exact height, there are transformations given relative to vehicles rear axle, but I had some difficultly with that too. And the height of the rear axle is not available either. Can someone help with this information and provide some guidance?

Also, I would like to know if there are other approaches tried with this dataset to get monocular depth estimate. (Perhaps something like sfm?)

Hi, apologies for the delay in answering your question. The “rear axle” is really the rear axle projected to the ground plane. So you can get the height simply from the camera extrinsics.
I’m not aware of people using SfM on nuScenes, but you could simply use the depth from lidar, and maybe ignore close ranges as parallax will be an issue there.