Freenect2Device::ColorCameraParams Struct Reference

Color camera calibration parameters. More...

#include <libfreenect2/libfreenect2.hpp>

Public Attributes
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).
Extrinsic parameters
These parameters are used in a formula to map coordinates in the depth camera to the color camera. They cannot be used for matrix transformation.
float	shift_d
float	shift_m
float	mx_x3y0
float	mx_x0y3
float	mx_x2y1
float	mx_x1y2
float	mx_x2y0
float	mx_x0y2
float	mx_x1y1
float	mx_x1y0
float	mx_x0y1
float	mx_x0y0
float	my_x3y0
float	my_x0y3
float	my_x2y1
float	my_x1y2
float	my_x2y0
float	my_x0y2
float	my_x1y1
float	my_x1y0
float	my_x0y1
float	my_x0y0

Detailed Description

Color camera calibration parameters.

Kinect v2 includes factory preset values for these parameters. They are used in Registration.

Member Data Documentation

fx

float fx

Focal length x (pixel).

fy

float fy

Focal length y (pixel).

cx

float cx

Principal point x (pixel).

cy

float cy

Principal point y (pixel).

shift_d

float shift_d

shift_m

float shift_m

mx_x3y0

float mx_x3y0

mx_x0y3

float mx_x0y3

mx_x2y1

float mx_x2y1

mx_x1y2

float mx_x1y2

mx_x2y0

float mx_x2y0

mx_x0y2

float mx_x0y2

mx_x1y1

float mx_x1y1

mx_x1y0

float mx_x1y0

mx_x0y1

float mx_x0y1

mx_x0y0

float mx_x0y0

my_x3y0

float my_x3y0

my_x0y3

float my_x0y3

my_x2y1

float my_x2y1

my_x1y2

float my_x1y2

my_x2y0

float my_x2y0

my_x0y2

float my_x0y2

my_x1y1

float my_x1y1

my_x1y0

float my_x1y0

my_x0y1

float my_x0y1

my_x0y0

float my_x0y0