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# --*-- coding:utf-8 --*--
import numpy as np
'''
getCameraParam: get the camera matrix
colOrZ: color or depth
'''
def getCameraParam(colorOrZ='color'):
if colorOrZ == 'color':
fx_rgb = 5.1885790117450188e+02
fy_rgb = 5.1946961112127485e+02
cx_rgb = 3.2558244941119034e+02
cy_rgb = 2.5373616633400465e+02
C = np.array([[fx_rgb, 0, cx_rgb], [0, fy_rgb, cy_rgb], [0, 0, 1]])
else:
fx_d = 5.8262448167737955e+02
fy_d = 5.8269103270988637e+02
cx_d = 3.1304475870804731e+02
cy_d = 2.3844389626620386e+02
C = np.array([[fx_d, 0, cx_d], [0, fy_d, cy_d], [0, 0, 1]])
return C |