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Field of view of depth camera changes with choice of resolution RRS feed

  • Question

  • kinectSensor.DepthStream.Enable(DepthImageFormat.Resolution320x240Fps30) yields:

    NominalDiagonalFieldOfView: 70.0

    NominalFocalLengthInPixels: 285.63

    NominalHorizontalFieldOfView: 58.5

    NominalInverseFocalLengthInPixels: 0.00350103271

    NominalVerticalFieldOfView: 45.6

    However, kinectSensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30) yields (multiple of 2) (80x60 in turn yields multiple of 4):

    NominalDiagonalFieldOfView: 140.0

    NominalFocalLengthInPixels: 571.26

    NominalHorizontalFieldOfView: 117.0

    NominalInverseFocalLengthInPixels: 0.00175051636

    NominalVerticalFieldOfView: 91.2

    Wednesday, February 15, 2012 4:42 PM

All replies

  • Hi Jesper,

    It is noteworthy that they are mostly doubled (or halved). I guess the firmware itself does not change anything such as focal length. It only down-sampling the output image (from 640*480). due to down-sampling, the camera parameters should be scaled (halved) together. Consider the following diagram:

    Tuesday, February 28, 2012 4:00 AM
  • Sure, the NominalFocalLengthInPixels and the NominalInverseFocalLengthInPixels should be changed when you change the number of pixels, but I do not see the point (not the correctness) of changing NominalDiagonalFieldOfView, NominalHorizontalFieldOfView and NominalVerticalFieldOfView.

    Best regards,

    Jesper

    Tuesday, April 17, 2012 1:17 PM
  • Yes, this is a known bug.

    John
    K4W Dev

    Tuesday, April 17, 2012 8:02 PM