{"action":"created","issue":{"url":"https://api.github.com/repos/OpenKinect/libfreenect2/issues/41","labels_url":"https://api.github.com/repos/OpenKinect/libfreenect2/issues/41/labels{/name}","comments_url":"https://api.github.com/repos/OpenKinect/libfreenect2/issues/41/comments","events_url":"https://api.github.com/repos/OpenKinect/libfreenect2/issues/41/events","html_url":"https://github.com/OpenKinect/libfreenect2/issues/41","id":40344099,"number":41,"title":"Depth-color registration parameters are unknown","user":{"login":"floe","id":90756,"avatar_url":"https://avatars.githubusercontent.com/u/90756?v=3","gravatar_id":"","url":"https://api.github.com/users/floe","html_url":"https://github.com/floe","followers_url":"https://api.github.com/users/floe/followers","following_url":"https://api.github.com/users/floe/following{/other_user}","gists_url":"https://api.github.com/users/floe/gists{/gist_id}","starred_url":"https://api.github.com/users/floe/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/floe/subscriptions","organizations_url":"https://api.github.com/users/floe/orgs","repos_url":"https://api.github.com/users/floe/repos","events_url":"https://api.github.com/users/floe/events{/privacy}","received_events_url":"https://api.github.com/users/floe/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/OpenKinect/libfreenect2/labels/enhancement","name":"enhancement","color":"84b6eb"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":24,"created_at":"2014-08-15T12:27:53Z","updated_at":"2015-03-26T07:55:48Z","closed_at":null,"body":"I'm still trying to get the calibration/registration parameters sorted out, but I'm kinda stuck, so I'll try to write down what I think I know and hope that someone can provide some additional pointers... \r\n\r\nThe intrinsics for the depth camera seem pretty certain - for the two\r\ndevices I own, they are:\r\n\r\n    depth camera intrinsic parameters:\r\n    fx 368.096588, fy 368.096588, cx 261.696594, cy 202.522202\r\n    depth camera radial distortion coeffs:\r\n    k1 0.084061, k2 -0.271582, p1 0.000000, p2 0.000000, k3 0.101907\r\n\r\n    depth camera intrinsic parameters:\r\n    fx 365.402802, fy 365.402802, cx 260.925507, cy 205.594604\r\n    depth camera radial distortion coeffs:\r\n    k1 0.095575, k2 -0.277055, p1 0.000000, p2 0.000000, k3 0.097539\r\n\r\nThis is consistent with a camera having square pixels at a resolution of 512*424 (although cy seems a bit off-center to me).\r\n\r\nNext are color camera intrinsics - there's a 25-value block which contains the following 5 initial values on both cameras:\r\n\r\n    1081.37 - might again be focal length in pixels - FOV?\r\n     959.5  - exactly half the x resolution -> optical center x?\r\n     539.5  - exactly half the y resolution -> optical center y?\r\n     863    - not really a clue - perhaps x shift relative to depth cam?\r\n      52    - perhaps y shift relative to depth cam?\r\n\r\nAbout the 20 other values, I have no real clue, although part of them look like they might form a 4x4 transformation matrix... \r\n\r\nAny additional comments/ideas?"},"comment":{"url":"https://api.github.com/repos/OpenKinect/libfreenect2/issues/comments/86382115","html_url":"https://github.com/OpenKinect/libfreenect2/issues/41#issuecomment-86382115","issue_url":"https://api.github.com/repos/OpenKinect/libfreenect2/issues/41","id":86382115,"user":{"login":"floe","id":90756,"avatar_url":"https://avatars.githubusercontent.com/u/90756?v=3","gravatar_id":"","url":"https://api.github.com/users/floe","html_url":"https://github.com/floe","followers_url":"https://api.github.com/users/floe/followers","following_url":"https://api.github.com/users/floe/following{/other_user}","gists_url":"https://api.github.com/users/floe/gists{/gist_id}","starred_url":"https://api.github.com/users/floe/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/floe/subscriptions","organizations_url":"https://api.github.com/users/floe/orgs","repos_url":"https://api.github.com/users/floe/repos","events_url":"https://api.github.com/users/floe/events{/privacy}","received_events_url":"https://api.github.com/users/floe/received_events","type":"User","site_admin":false},"created_at":"2015-03-26T07:55:48Z","updated_at":"2015-03-26T07:55:48Z","body":"Since the original topic of this issue has been dealt with (parameters are known now, discussion regarding xTable/zTable continues at #144), I would suggest to close this?"}}