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Kiretu
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To determine the specific extrinsic and intrinsic parameters of the Kinect, I recommend the established RGBDemo of Nicolai Burrus [1].
With the help of a chessboard it generates yml-file including the parameters.
Here is an example [1]:
%YAML:1.0
rgb_intrinsics: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 5.3009194943536181e+02, 0., 3.2821930715948992e+02, 0.,
5.2635860167133876e+02, 2.6872781351282777e+02, 0., 0., 1. ]
rgb_distortion: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 2.6172416643533958e-01, -8.2104703257074252e-01,
-1.0637850248230928e-03, 8.4946289275097779e-04,
8.9012728224037985e-01 ]
depth_intrinsics: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 5.9425464969100040e+02, 0., 3.3978729959351779e+02, 0.,
5.9248479436384002e+02, 2.4250301427866111e+02, 0., 0., 1. ]
depth_distortion: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ -2.6167161458989197e-01, 9.9319844495479259e-01,
-1.0221823575713733e-03, 5.3621541487535148e-03,
-1.2966457585622253e+00 ]
R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 9.9977321644139494e-01, 1.7292658422779497e-03,
-2.1225581878346968e-02, -2.0032487074002391e-03,
9.9991486643051353e-01, -1.2893676196675344e-02,
2.1201478274968936e-02, 1.2933272242365573e-02,
9.9969156632836553e-01 ]
T: !!opencv-matrix
rows: 3
cols: 1
dt: d
data: [ 2.1354778990792557e-02, 2.5073334719943473e-03,
-1.2922411623995907e-02 ]
rgb_size: !!opencv-matrix
rows: 1
cols: 2
dt: i
data: [ 640, 480 ]
raw_rgb_size: !!opencv-matrix
rows: 1
cols: 2
dt: i
data: [ 640, 480 ]
depth_size: !!opencv-matrix
rows: 1
cols: 2
dt: i
data: [ 640, 480 ]
raw_depth_size: !!opencv-matrix
rows: 1
cols: 2
dt: i
data: [ 640, 480 ]
Generated on Sat Jan 28 2012 13:51:49 for Kiretu by version 1.7.3 of
