private static void InitDummyCameraCalibration(ref CameraCalibration cameraCalibration, int widthPixels, int heightPixels,
float hFovDegrees, float vFovDegrees)
{
if (widthPixels <= 0 || heightPixels <= 0)
{
return;
}
cameraCalibration.ResolutionWidth = widthPixels;
cameraCalibration.ResolutionHeight = heightPixels;
cameraCalibration.MetricRadius = 1.7f;
cameraCalibration.Intrinsics.Model = CalibrationModel.BrownConrady;
cameraCalibration.Intrinsics.ParameterCount = 14;
cameraCalibration.Intrinsics.Parameters.Cx = widthPixels / 2f;
cameraCalibration.Intrinsics.Parameters.Cy = heightPixels / 2f;
cameraCalibration.Intrinsics.Parameters.Fx = SizeAndFovToFocus(widthPixels, hFovDegrees);
cameraCalibration.Intrinsics.Parameters.Fy = SizeAndFovToFocus(heightPixels, vFovDegrees);
InitDummyExtrinsics(ref cameraCalibration.Extrinsics);
}
// Ideal pin-hole camera. No distortions.
private static void InitDummyCameraCalibration(ref CameraCalibration cameraCalibration, int widthPixels, int heightPixels,
float hFovDegrees, float vFovDegrees)
{
if (widthPixels <= 0 || heightPixels <= 0)
{
return;
}
cameraCalibration.ResolutionWidth = widthPixels;
cameraCalibration.ResolutionHeight = heightPixels;
cameraCalibration.MetricRadius = 1.7f;
cameraCalibration.Intrinsics.Model = CalibrationModel.BrownConrady; // This model is in use in Azure Kinect Sensor SDK
cameraCalibration.Intrinsics.ParameterCount = 14; // Corresponds to BrownConrady model
cameraCalibration.Intrinsics.Parameters.Cx = (widthPixels - 1f) / 2f;
cameraCalibration.Intrinsics.Parameters.Cy = (heightPixels - 1f) / 2f;
cameraCalibration.Intrinsics.Parameters.Fx = SizeAndFovToFocus(widthPixels, hFovDegrees);
cameraCalibration.Intrinsics.Parameters.Fy = SizeAndFovToFocus(heightPixels, vFovDegrees);
InitDummyExtrinsics(ref cameraCalibration.Extrinsics);
}