camera-parameter

Overview #

Get the parameters of the camera intrinsic and distortion values.

Expect Output #

Prerequisite #

• Hello LIPSEdge SDK

Tutorial #

We first include LIPSNICustomProperty.h which is inside our LIPSEdge SDK. This header file provide multiple handy functions and data structs like RadialDistortionCoeffs, radialDistCoeffs etc.

#include "LIPSNICustomProperty.h"

To get different parameters we use openni::VideoStream::getProperty() with different property index. All of this index are defined inside LIPSNICustomProperty.h

vs.getProperty(ONI_STREAM_PROPERTY_HORIZONTAL_FOV, &hfov);
vs.getProperty(ONI_STREAM_PROPERTY_VERTICAL_FOV, &vfov);
vs.getProperty(LIPS_STREAM_PROPERTY_FOCAL_LENGTH_X, &fx);
vs.getProperty(LIPS_STREAM_PROPERTY_FOCAL_LENGTH_Y, &fy);
vs.getProperty(LIPS_STREAM_PROPERTY_PRINCIPAL_POINT_X, &cx);
vs.getProperty(LIPS_STREAM_PROPERTY_PRINCIPAL_POINT_Y, &cy);
vs.getProperty(LIPS_STREAM_PROPERTY_RADIAL_DISTORTION, &radialDistCoeffs);
vs.getProperty(LIPS_STREAM_PROPERTY_TANGENTIAL_DISTORTION, &tangentialDistCoeffs);

Different sensor has different parameters. We use each VideoStream to get the parameters.

VideoStream color;
color.create(device, SENSOR_COLOR);
printStreamParameters("Color", color);

VideoStream depth;
depth.create(device, SENSOR_DEPTH);
printStreamParameters("Depth", depth);

VideoStream ir;
ir.create(device, SENSOR_IR);
printStreamParameters("IR", ir);

Full code #

camera-parameter.cpp