KinectAzure-Open3D获取相机内参，depth2pointcloud

KinectAzure-Open3D获取相机内参，depth2pointcloud

参考：https://blog.csdn.net/weixin_42532587/article/details/112258490

使用Azure kinect SDK获取的rgb图与深度图
内参获取相关资料可以在https://github.com/microsoft/Azure-Kinect-Sensor-SDK/tree/develop/examples/calibration找到。配置好kinect的环境变量后，运行calibration/main.cpp/（或者在Visual Studio 2017中加载CmakeList.txt并进行构建），将生成Calibration_info.exe。连接并执行Azure Kinect后，输出如下：

calibration_info.exe  > out.txt

下面是Azure kinect sdk的一些内参，供大家参考
图像尺寸为640×576的内参，格式为 K4A_DEPTH_MODE_NFOV_UNBINNED, Depth captured at 640x576. Passive IR is also captured at 640x576

Found 1 connected devices:

===== Device 0: {DeviceID:XXXXXX} =====
resolution width: 640
resolution height: 576
principal point x: 324.021362
principal point y: 318.569580
focal length x: 504.390198
focal length y: 504.617188
radial distortion coefficients:
k1: 0.224424
k2: -0.066181
k3: -0.000697
k4: 0.565078
k5: -0.062617
k6: -0.011959
center of distortion in Z=1 plane, x: 0.000000
center of distortion in Z=1 plane, y: 0.000000
tangential distortion coefficient x: 0.000028
tangential distortion coefficient y: 0.000063
metric radius: 0.000000

K4A_DEPTH_MODE_WFOV_UNBINNED
Depth captured at 1024x1024. Passive IR is also captured at 1024x1024.

Found 1 connected devices:

===== Device 0: 000576395012 =====
resolution width: 1024
resolution height: 1024
principal point x: 516.021362
principal point y: 498.569580
focal length x: 504.390198
focal length y: 504.617188
radial distortion coefficients:
k1: 0.224424
k2: -0.066181
k3: -0.000697
k4: 0.565078
k5: -0.062617
k6: -0.011959
center of distortion in Z=1 plane, x: 0.000000
center of distortion in Z=1 plane, y: 0.000000
tangential distortion coefficient x: 0.000028
tangential distortion coefficient y: 0.000063
metric radius: 0.000000

颜色图calibration.color_camera_calibration参数（1080p）

Found 1 connected devices:

===== Device 0: 000576395012 =====
resolution width: 1920
resolution height: 1080
principal point x: 959.184265
principal point y: 545.431702
focal length x: 913.492004
focal length y: 913.715515
radial distortion coefficients:
k1: 0.521646
k2: -2.740919
k3: 1.595894
k4: 0.401455
k5: -2.563089
k6: 1.521002
center of distortion in Z=1 plane, x: 0.000000
center of distortion in Z=1 plane, y: 0.000000
tangential distortion coefficient x: 0.000542
tangential distortion coefficient y: 0.000067
metric radius: 0.000000

https://blog.csdn.net/zxxxiazai/article/details/108168120(应该还是需要再标定)

https://blog.csdn.net/z504727099/article/details/119084764（azure 做orbslam2）