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I use pyAzureKinect to Get Calibration but it always null, could you tell me how to get calibration's Intrinsic #1488
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following, also want to know how to retrieve the Kinect intrinsics! |
here is to find the calibration intrinsics: build from source azure sdk using this https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/docs/building.md and then build a calibration_info.exe https://github.com/microsoft/Azure-Kinect-Sensor-SDK/tree/develop/examples/calibration which outputs the intrinsics. Hope this helps! |
Well my output is as follows: How can I get the intrinsic matrix? It is a little confused for me to understand these information |
'
pyK4 = pyKinectAzure(modulePath)
pyK4.device_open(0)
config = pyK4.config
pyK4.device_start_cameras(config)
config.color_resolution = _k4a.K4A_COLOR_RESOLUTION_1080P
#config.depth_mode = _k4a.K4A_DEPTH_MODE_WFOV_2X2BINNED
config.depth_mode = _k4a.K4A_DEPTH_MODE_NFOV_UNBINNED
cali = None
pyK4.getDepthSensorCalibration(calibration=cali)
#Traceback (most recent call last):
File "D:/UE4Protect/pyKinect/pyKinectAzure/examples/Test3DReConstruct.py", line 25, in
pyK4.getDepthSensorCalibration(calibration=cali)
#File "../pyKinectAzure\pyKinectAzure.py", line 573, in getDepthSensorCalibration
#self.device_get_calibration(self.config.depth_mode, self.config.color_resolution, calibration)
#File "../pyKinectAzure\pyKinectAzure.py", line 280, in device_get_calibration
#_k4a.VERIFY(self.k4a.k4a_device_get_calibration(self.device_handle,depth_mode,color_resolution,calibration),"Get calibration failed!")
OSError: exception: access violation writing 0x0000000000000080
o3d_Intrinsic = o3d.camera.PinholeCameraIntrinsic
o3d_Intrinsic.width = cali.depth_camera_calibration.intrinsics.parameters.codx
o3d_Intrinsic.height = cali.depth_camera_calibration.intrinsics.parameters.cody
o3d_Intrinsic.fx = cali.depth_camera_calibration.intrinsics.parameters.fx
o3d_Intrinsic.fy = cali.depth_camera_calibration.intrinsics.parameters.fy
o3d_Intrinsic.cx = cali.depth_camera_calibration.intrinsics.parameters.cx
o3d_Intrinsic.cy = cali.depth_camera_calibration.intrinsics.parameters.cy
print(o3d_Intrinsic, cali.depth_camera_calibration.intrinsics.parameters)
`
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