Hello,
I’m using open3d and several azure kinect cameras with other programs.
I’m able to generate an intrinsic json file like this one:
{
“color_mode” : “MJPG_3072P”,
“depth_mode” : “NFOV_UNBINNED”,
“height” : 3072,
“intrinsic_matrix” :
[
1959.37890625,
0.0,
0.0,
0.0,
1958.880126953125,
0.0,
2044.2911376953125,
1565.8837890625,
1.0
],
“serial_number_” : “000266700112”,
“stream_length_usec” : 2666689,
“width” : 4096
}
Then I need to understand the stucture of it to get these values:
Focals (pixels) - Fx:, Fy
Optical center - Cx:, Cy:
anf k1, k2, k3, p1,p2 and skew
by a opencv calibration I think I am able by deduction to get this about the structure:
“color_mode” : “MJPG_3072P”,
“depth_mode” : “NFOV_UNBINNED”,
“height” : 3072,
“intrinsic_matrix” :
[
1959.37890625, —> Fx
0.0, —> k1 ?
0.0, —> k2?
0.0, —> k3?
1958.880126953125, —> Fy
0.0, —> ???
2044.2911376953125, —> Cx
1565.8837890625, —> Cy
1.0 —> ???
],
“serial_number_” : “000266700112”,
“stream_length_usec” : 2666689,
“width” : 4096
}
then the value I can guess:
Focals (pixels) - Fx: 1959.37890625 Fy: 1958.880126953125
Optical center - Cx: 2044.2911376953125 Cy: 1565.8837890625
Radial distortion (Brown’s Model)
K1: 0.0 K2: -0.0 K3: 0
P1: 0.0 P2: -0.0
Skew: 0
thanks a lot to give me the structure of the json file.