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nyu_camera_parameters.py
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nyu_camera_parameters.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Tue Mar 12 09:53:06 2019
@author: abdel62
"""
import numpy as np
# Calibrated using the RGBDemo Calibration tool:
# http://labs.manctl.com/rgbdemo/
#
# The maximum depth used, in meters.
maxDepth = 10
# RGB Intrinsic Parameters
fx_rgb = 5.1885790117450188e+02
fy_rgb = 5.1946961112127485e+02
cx_rgb = 3.2558244941119034e+02
cy_rgb = 2.5373616633400465e+02
# RGB Distortion Parameters
k1_rgb = 2.0796615318809061e-01
k2_rgb = -5.8613825163911781e-01
p1_rgb = 7.2231363135888329e-04
p2_rgb = 1.0479627195765181e-03
k3_rgb = 4.9856986684705107e-01
# Depth Intrinsic Parameters
fx_d = 5.8262448167737955e+02
fy_d = 5.8269103270988637e+02
cx_d = 3.1304475870804731e+02
cy_d = 2.3844389626620386e+02
# RGB Distortion Parameters
k1_d = -9.9897236553084481e-02
k2_d = 3.9065324602765344e-01
p1_d = 1.9290592870229277e-03
p2_d = -1.9422022475975055e-03
k3_d = -5.1031725053400578e-01
# Rotation
R = -np.array([ 9.9997798940829263e-01, 5.0518419386157446e-03, \
4.3011152014118693e-03, -5.0359919480810989e-03, \
9.9998051861143999e-01, -3.6879781309514218e-03, \
-4.3196624923060242e-03, 3.6662365748484798e-03, \
9.9998394948385538e-01 ], dtype=np.float32)
R = np.reshape(R, (3, 3))
R = np.linalg.inv(R)
# 3D Translation
t_x = 2.5031875059141302e-02
t_z = -2.9342312935846411e-04
t_y = 6.6238747008330102e-04
# Parameters for making depth absolute.
depthParam1 = 351.3
depthParam2 = 1092.5