How to get the depth camera intrinsics

[ShuangjunLiu]

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.

[KonstantinosAng]

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 *
from pykinect2 import PyKinectV2
from pykinect2 import PyKinectRuntime

kinect = PyKinectRuntime.PyKinectRuntime(PyKinectV2.FrameSourceTypes_Depth | PyKinectV2.FrameSourceTypes_Color)

while True:
if kinect.has_new_depth_frame():
intrinsics_matrix = kinect._mapper.GetDepthCameraIntrinsics()

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
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

[ShuangjunLiu]

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 — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#81?email_source=notifications&email_token=AEXVYAZUSO6HWHOVD6J34KLRC5BVHA5CNFSM4KVTJCD2YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOEL26KRI#issuecomment-586540357>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AEXVYAY3C6MVQSF42LPDCOLRC5BVHANCNFSM4KVTJCDQ> .

-- Shuangjun Liu, PhD Candidate Augmented Cognition Lab <http://www.northeastern.edu/ostadabbas/> Electrical & Computer Engineering Department Northeastern University Boston, MA 02115 [email protected]

[theonlyhacker]

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.

[KonstantinosAng]

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.