how to get 4 tracking cameras intrinsics and distort imgs buffer

microsoft / HoloLens2ForCV

Sample code and documentation for using the Microsoft HoloLens 2 for Computer Vision research.

MIT License

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how to get 4 tracking cameras intrinsics and distort imgs buffer #34

Open buqing2009 opened 3 years ago

buqing2009 commented 3 years ago

when i use StreamRecorder to record sensors data, i found that the saved imgs of 4 tracking cameras are undistorted. How to get raw data of 4 tracking cameras and these intrinsics?

dorinung commented 3 years ago

The images are raw camera images. My captures show perspective distortion. The intrinsic are not directly exposed by the API. They are factored into MapImagePointToCameraUnitPlane methods.

VLC LF-6-ts-prespective

buqing2009 commented 3 years ago

here is the chessboard image from two front tracking cameras,

dorinung commented 3 years ago

The camera intrinsics are not exposed by the API. Instead a MapImagePointToCameraUnitPlane method for each camera is provided. The camera intriniscs model is used to implement this method. This can used to project image points to camera unit vectors. A data set of vectors, image points pairs can then be used to fit a camera model.