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CameraSpace table for Color camera?
Question

Is there a method to obtain the Camera space table for the Color camera? I can see the
GetDepthFrameToCameraSpaceTable GetDepthCameraIntrinsics methods but there seems to be nothing for the color camera. How can we get the color camera characteristics?
All replies

Can you elaborate on what exactly you are trying to do? The table provides a depth frame pixel to a point in camera space.
We provide a Color camera data as part of the ColorFrame, FrameDescription and ColorCameraSettings. What in particular are you looking for?
Carmine Sirignano  MSFT
 Proposed as answer by Carmine Si  MSFTMicrosoft employee Tuesday, November 11, 2014 12:20 AM

This is related to the "Fusion Problem" post. I wanted to check if the Camera Intrinsics and Camera to Space tables of the Depth and color cameras are consistent.
Related to the intrinsics, I wanted to know what are the units of the "r" for the radial correction. I can calculate the table values at the center of the table (radial correction negligible) but I am way off when it is not negligible.
I suppose that the X value of the table is equal to:
X = xc / fx where xc is the corrected pixel value and fx the focal length in pixels.
xc = x*(1+k1*r^2 + k2*r^4 + k3*r^6) where k1, k2, k3 are the radial distortion 2nd, 4th, and 6th order coefficients and r is the radial value from the center from the intrinsics.
r = sqrt((xcx)^2 + (ycy)^2) where cx and cy are the principal points as per the intrinsics. r is in pixel values? If yes, the resulting correction is way off.
Please let me know what information I'm missing.
