Class ColorCameraParams

include/libfreenect2/libfreenect2.hpp:58–99

Color camera calibration parameters. * Kinect v2 includes factory preset values for these parameters. They are used in Registration. */

   * Kinect v2 includes factory preset values for these parameters. They are used in Registration.
   */
  struct ColorCameraParams
  {
    /** @name Intrinsic parameters */
    ///@{
    float fx; ///< Focal length x (pixel)
    float fy; ///< Focal length y (pixel)
    float cx; ///< Principal point x (pixel)
    float cy; ///< Principal point y (pixel)
    ///@}

    /** @name Extrinsic parameters
     * These parameters are used in [a formula](https://github.com/OpenKinect/libfreenect2/issues/41#issuecomment-72022111) to map coordinates in the
     * depth camera to the color camera.
     *
     * They cannot be used for matrix transformation.
     */
    ///@{
    float shift_d, shift_m;

    float mx_x3y0; // xxx
    float mx_x0y3; // yyy
    float mx_x2y1; // xxy
    float mx_x1y2; // yyx
    float mx_x2y0; // xx
    float mx_x0y2; // yy
    float mx_x1y1; // xy
    float mx_x1y0; // x
    float mx_x0y1; // y
    float mx_x0y0; // 1

    float my_x3y0; // xxx
    float my_x0y3; // yyy
    float my_x2y1; // xxy
    float my_x1y2; // yyx
    float my_x2y0; // xx
    float my_x0y2; // yy
    float my_x1y1; // xy
    float my_x1y0; // x
    float my_x0y1; // y
    float my_x0y0; // 1
    ///@}
  };

  /** IR camera intrinsic calibration parameters.
   * Kinect v2 includes factory preset values for these parameters. They are used in depth image decoding, and Registration.