RGBD sensor calibration parameters

[aecins]

I wanted to ask if there is a suggested method for calibrating an RGBD sensor like the Asus Xtion Pro camera:

1. I understand that RGB intrinsics can be obtained using a standard calibration tool such as MATLAB calibration toolbox.
2. I am not sure about the depth camera calibration. Are these depth camera parameters equivalent to the intrinsics of the IR camera? If not how can they be calculated?
3. Finally how can one obtain the disparity calibration parameters?

[carlren]

Hi,

There is a tool for calibrating a Primesense sensors and write the calibration file to InfiniTAM format in here: https://github.com/carlren/OpenNICalibTool

Carl Yuheng Ren Postdoc Research Assistant Oxford Torr Vision Group Department of Engineering Science University of Oxford, UK E-mail: carl@robots.ox.ac.uk or ren@carlyuheng.com ren@carlyuheng.com Cell Phone:+44 (0) 7411614320 Website: http://www.carlyuheng.com

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任禹衡 牛津大学工程系博后研究员 牛津大学工程学博士 哈尔滨工业大学计算机科学与技术学士 电话：+44 (0) 7411614320 邮箱：ren@carlyuheng.com 或 carl@robots.ox.ac.uk 网站: http://www.carlyuheng.com

On Mon, Oct 12, 2015 at 2:11 PM, Aleksandrs Ecins notifications@github.com wrote:

I wanted to ask if there is a suggested method for calibrating an RGBD sensor like the Asus Xtion Pro camera:

1. I understand that RGB intrinsics can be obtained using a standard calibration tool such as MATLAB calibration toolbox.
2. I am not sure about the depth camera calibration. Are these depth camera parameters equivalent to the intrinsics of the IR camera? If not how can they be calculated?
3. Finally how can one obtain the disparity calibration parameters?

— Reply to this email directly or view it on GitHub https://github.com/victorprad/InfiniTAM/issues/24.

[aecins]

Great, I will check it out. Thanks!