Azure Kinect获取相机内参

在采集点云数据时需要根据相机不同depth、color分辨率调整对应相机内参u0(px)、v0(py)、fx、fy，那么具体内参怎么获得呢？就跟随ludaner一起来看看吧。

其实Azure-Kinect-Sensor-SDK已经提供了example代码，只需编译运行即可:Azure-Kinect-Sensor-SDK/main.cpp at develop · microsoft/Azure-Kinect-Sensor-SDK · GitHubA cross platform (Linux and Windows) user mode SDK to read data from your Azure Kinect device. - Azure-Kinect-Sensor-SDK/main.cpp at develop · microsoft/Azure-Kinect-Sensor-SDKhttps://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/examples/calibration/main.cpp

顺便把main.cpp代码贴出来

#include <iostream>
#include <fstream>
#include <string>
#include <iomanip>
#include <vector>
#include <k4a/k4a.h>
using namespace std;

static string get_serial(k4a_device_t device)
{
    size_t serial_number_length = 0;

    if (K4A_BUFFER_RESULT_TOO_SMALL != k4a_device_get_serialnum(device, NULL, &serial_number_length))
    {
        cout << "Failed to get serial number length" << endl;
        k4a_device_close(device);
        exit(-1);
    }

    char *serial_number = new (std::nothrow) char[serial_number_length];
    if (serial_number == NULL)
    {
        cout << "Failed to allocate memory for serial number (" << serial_number_length << " bytes)" << endl;
        k4a_device_close(device);
        exit(-1);
    }

    if (K4A_BUFFER_RESULT_SUCCEEDED != k4a_device_get_serialnum(device, serial_number, &serial_number_length))
    {
        cout << "Failed to get serial number" &l