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How to get the depth camera intrinsics #81
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I have a repository with all the mapper functions if you want to check it out: https://github.com/KonstantinosAng/PyKinect2-Mapper-Functions For the depth camera intrinsics you can use the code below: from pykinect2.PyKinectV2 import * kinect = PyKinectRuntime.PyKinectRuntime(PyKinectV2.FrameSourceTypes_Depth | PyKinectV2.FrameSourceTypes_Color) while True: Just make sure to have at least one depth frame otherwise the intrinsics matrix will return zero values. and to access the values use: focal_length_x = intrinsics_matrix.FocalLengthX |
Thank you so much!
It works!
…On Fri, Feb 14, 2020 at 8:39 PM CyberBoy ***@***.***> wrote:
and to access the values use:
focal_length_x = intrinsics_matrix.FocalLengthX
focal_length_y = intrinsics_matrix.FocalLengthY
principal_point_x = intrinsics_matrix.PrincipalPointX
principal_point_y = intrinsics_matrix.PrincipalPointY
radial_distortion_fourth_order =
intrinsics_matrix.RadialDistortionFourthOrder
radial_distortion_second_order =
intrinsics_matrix.RadialDistortionSecondOrder
radial_distortion_sixth_order =
intrinsics_matrix.RadialDistortionSixthOrder
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Shuangjun Liu, PhD Candidate
Augmented Cognition Lab <http://www.northeastern.edu/ostadabbas/>
Electrical & Computer Engineering Department
Northeastern University
Boston, MA 02115
[email protected]
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How can I get the internal parameters of the kinect color camera? There should be a corresponding function, but I can't find it?I guess the color camera intrinsics function like GetColorCameraIntrinsics(),but it does not exist. |
Yes there is only a function to get the Depth intrinsic parameters: intrinsics_matrix = kinect._mapper.GetDepthCameraIntrinsics() But you can always calibrate the RGB sensor and calculate the intrinsics yourself. |
From the source code, I see there is method in PyKinectV2 to get depth camera intrinsics.
However, I have no idea how to call this function.
Can you give an example how to use these com methods?
Thanks.
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