python获取Azurekinect内参

要获取 Azure Kinect 的内参，你可以使用 Azure Kinect SDK 中提供的 k4a_calibration_get_camera_matrix 和 k4a_calibration_get_intrinsics 函数。以下是一个示例代码：

import k4a

# 打开设备并获取设备配置
device = k4a.Device.open()
config = k4a.DeviceConfiguration()

# 启动设备
device.start_cameras(config)

# 获取深度摄像头的内参
calibration = device.get_calibration(config.depth_mode, config.color_mode)
depth_camera_matrix = calibration.depth_camera_calibration.intrinsics.parameters.param
depth_intrinsics = calibration.depth_camera_calibration.intrinsics

# 获取彩色摄像头的内参
color_camera_matrix = calibration.color_camera_calibration.intrinsics.parameters.param
color_intrinsics = calibration.color_camera_calibration.intrinsics

# 停止设备
device.stop_cameras()
device.close()

# 打印内参
print("Depth Camera Matrix: ", depth_camera_matrix)
print("Depth Intrinsics: ", depth_intrinsics)
print("Color Camera Matrix: ", color_camera_matrix)
print("Color Intrinsics: ", color_intrinsics)

注意，以上示例代码使用了 k4a Python 包，你需要先安装该包。安装方法可以参考官方文档：https://docs.microsoft.com/en-us/azure/kinect-dk/sensor-sdk-download