This repository contains code to estimate the calibration of the Kinect camera used in the 7-Scenes dataset.
The intrinsics parameters of the RGB camera are estimated from vanishing points detected using rectangles in the scene (see calibrate_rgb_camera_from_rectangle.py)
- fx = 532.57
- fy = 531.54
- cx = 320
- cy = 240
The intrinsics of the depth camera and extrinsics parameters to align depth and rgb are estimated using points correspondences (see calibrate_depth.py).
The two cameras are assumed to have the same orientation. Only a translation is estimated.
- fx = 598.84
- fy = 587.62
- cx = 320
- cy = 240
- tx = 0.023449
- ty = 0.006177
- tz = 0.010525
The calibration can be checked by on the colored point cloud generated in check_calibration.py
