2 Replies Latest reply on Jan 19, 2017 12:06 PM by Intel Corporation

    Camera intrinsics mismatch

    JonathanMoisantThompson

      I've found that when I use the Calibration interface to query camera intrinsics (focal length and principal point), I get a different result than when I use the Device interface.

       

      For example, with my SR300, using Intel::RealSense::Calibration:

       

      calibration->QueryStreamProjectionParameters(StreamType::STREAM_TYPE_DEPTH, &depthCalib, &depthTransform);

       

      reports focal length of {x=475.89, y=475.89} and principal point of {x=313.28, y = 240.76}.

       

      But when I using Intel::RealSense::Capture::Device:

       

      auto depthFocalLength = device->QueryDepthFocalLength();

      auto depthPrincipalPoint = device->QueryDepthPrincipalPoint();

       

      I get focal length of {x=463.88, y=463.88} and principal point of {x=320.00, y=240.00}.

       

      Why do these two interfaces report different results?  Which is accurate?