Calibration issue about calibration.txt

MarekKowalski / LiveScan3D

LiveScan3D is a system designed for real time 3D reconstruction using multiple Azure Kinect or Kinect v2 depth sensors simultaneously at real time speed.

MIT License

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Calibration issue about calibration.txt #35

Closed TerryHoQvQ closed 5 years ago

TerryHoQvQ commented 5 years ago

Hi,

Thanks for your nice share first! I am using two kinects and one marker to calibrate, then get the file 'calibration.txt' on the 'Server' computer.I want to know the extrinsics and intrinsics，but I think the file only provides the extrinsics(T,R).I don't know if I understand it wrong. Cloud you tell me the meaning of the parameters inside and how to get the intrinsics?

MarekKowalski commented 5 years ago

Hi,

You are correct that the file only provides the extrinsics. The parameters inside are:

translation vector
rotation matrix
id of the marker used for calibration
a boolean indicated whether calibration was successful You can also see the code that loads the file on lines 133-151 here.

As for the intrinsics you can obtain them from the Kinect SDK.

Thanks,

Marek

TerryHoQvQ commented 5 years ago

Hi,

Thank you for your reply so quickly.The T,R means the correlation between world coordinates and camera coordinates，right? I have two Kinects that use the same marker to calibrate, but why did I get only one calibration result?

MarekKowalski commented 5 years ago

The calibration results are saved by the client app, which receives data from only a single Kienct.