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Azure Kinect OpenCV Callibration #102955

Open vsardenberg opened 1 year ago

vsardenberg commented 1 year ago

Hello,

I am using an Azure Kinect camera in an OpenCV project. I calibrated it, but measuring the distance between aruco markers is not consistent across all regions of the camera. I suspect my camera matrix and distortion coefficients are not correct. Can someone share their values?

Mine looks like that:


<?xml version="1.0"?>
<opencv_storage>
<calibrationDate>"Tue Nov 29 12:30:44 2022"</calibrationDate>
<framesCount>29</framesCount>
<cameraResolution>
  3840 2160</cameraResolution>
<cameraMatrix type_id="opencv-matrix">
  <rows>3</rows>
  <cols>3</cols>
  <dt>d</dt>
  <data>
    1.8113209903507709e+03 0. 1.9168430079021357e+03 0.
    1.8113209903507709e+03 1.1037162909339688e+03 0. 0. 1.</data></cameraMatrix>
<cameraMatrix_std_dev type_id="opencv-matrix">
  <rows>4</rows>
  <cols>1</cols>
  <dt>d</dt>
  <data>
    0. 5.9040885468165483e+00 1.4538224120471679e+00
    1.2483103268543156e+00</data></cameraMatrix_std_dev>
<dist_coeffs type_id="opencv-matrix">
  <rows>1</rows>
  <cols>5</cols>
  <dt>d</dt>
  <data>
    7.4444587537615431e-02 -5.6282580383375677e-02 0. 0.
    1.9678295636167509e-02</data></dist_coeffs>
<dist_coeffs_std_dev type_id="opencv-matrix">
  <rows>5</rows>
  <cols>1</cols>
  <dt>d</dt>
  <data>
    2.6991552987155739e-03 4.0064503660164350e-03 0. 0.
    2.3500967853144032e-03</data></dist_coeffs_std_dev>
<avg_reprojection_error>4.5437026691149002e-01</avg_reprojection_error>
</opencv_storage>

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ManoharLakkoju-MSFT commented 1 year ago

@vsardenberg Thanks for your feedback! We will investigate and update as appropriate.

It would be great if you could add a link to the documentation you are following for these steps? This would help us redirect the issue to the appropriate team. Thanks!

vsardenberg commented 1 year ago

Thank you, @ManoharLakkoju .

I followed this tutorial to find the camera matrix and distortion coefficients:

http://www.peterklemperer.com/blog/2017/10/29/opencv-charuco-camera-calibration/

Thank you!

ManoharLakkoju-MSFT commented 1 year ago

Hi@vsardenberg Since this issue isn't directly related to Microsoft docs, we are supporting Microsoft docs, could you please provide Microsoft doc link. Thanks

Please Note, GitHub forum is dedicated for MS docs related issues.

vsardenberg commented 1 year ago

Here it is:

https://learn.microsoft.com/en-us/azure/kinect-dk/hardware-specification

I guess many people want to use Kinect for computer vision, and it would be very nice to have the calibration matrix available.

Thanks,

V

ManoharLakkoju-MSFT commented 1 year ago

@qm13 Can you please check and add your comments on this doc update request as applicable.