Where is the origin [0,0,0] of depth camera locate ?

Question

Where is the origin [0,0,0] of depth camera locate ?

Henry Nguyen 61

In Azure kinect dk, Where is the origin [0,0,0] of depth locate ?
I read the document, there are a drawing it look like origin point locate on the surface of protect glass, I guess that. But I'm not sure, because in document don't have any mention about that.
Camera run and display a depth maps. if I don't know where is origin point, the depth map is not meaningful.

So I really need verify this thing, It's very important.
Thank you.

António Sérgio Azevedo 7,671 Reputation points Microsoft Employee Moderator

2021-04-06T16:48:43.58+00:00

@Henry Nguyen is this the document you saw?
https://learn.microsoft.com/en-us/azure/kinect-dk/coordinate-systems#depth-and-color-camera

"The origin [0,0,0] is located at the focal point of the camera. The coordinate system is oriented such that the positive X-axis points right, the positive Y-axis points down, and the positive Z-axis points forward.
..."

I can see a similar request here, let me know if you are looking for the same and I can follow-up with the content author: https://github.com/MicrosoftDocs/azure-docs/issues/48278

Thanks!
Henry Nguyen 61 Reputation points

2021-04-07T01:36:59.807+00:00

Thank you for reply, I read the that similar request, the same question, but there are not answers.

Actually, this specs is very important. why there are not in document? Please note: this camera is only one on the market do not have this specs on document.

The depth value become meaningless if we do not know where is zero point.

Please give us the distance from The origin [0,0,0] to cover glass depth sensor, thank you so much.
António Sérgio Azevedo 7,671 Reputation points Microsoft Employee Moderator

2021-04-07T09:48:33.19+00:00

I am following-up with the content author in the github thread. Thank you for the details provided.
Hiro tachiuhy 6 Reputation points

2021-04-11T15:16:27.61+00:00

I'm also looking for this [0, 0, 0] origin location too (Both RGB and Depth alignment). Hope it will be added to the document soon. I think it's very important for many applications, especially in robotics.

Accepted answer

0 additional answers

Your answer

António Sérgio Azevedo 7,671 Reputation points Microsoft Employee Moderator

2021-04-06T16:48:43.58+00:00

@Henry Nguyen is this the document you saw?
https://learn.microsoft.com/en-us/azure/kinect-dk/coordinate-systems#depth-and-color-camera

"The origin [0,0,0] is located at the focal point of the camera. The coordinate system is oriented such that the positive X-axis points right, the positive Y-axis points down, and the positive Z-axis points forward.
..."

I can see a similar request here, let me know if you are looking for the same and I can follow-up with the content author: https://github.com/MicrosoftDocs/azure-docs/issues/48278

Thanks!
Henry Nguyen 61 Reputation points

2021-04-07T01:36:59.807+00:00

Thank you for reply, I read the that similar request, the same question, but there are not answers.

Actually, this specs is very important. why there are not in document? Please note: this camera is only one on the market do not have this specs on document.

The depth value become meaningless if we do not know where is zero point.

Please give us the distance from The origin [0,0,0] to cover glass depth sensor, thank you so much.
António Sérgio Azevedo 7,671 Reputation points Microsoft Employee Moderator

2021-04-07T09:48:33.19+00:00

I am following-up with the content author in the github thread. Thank you for the details provided.
Hiro tachiuhy 6 Reputation points

2021-04-11T15:16:27.61+00:00

I'm also looking for this [0, 0, 0] origin location too (Both RGB and Depth alignment). Hope it will be added to the document soon. I think it's very important for many applications, especially in robotics.

Answer 1

António Sérgio Azevedo 7,671 Microsoft Employee Moderator

Thank you @Henry Nguyen @Hiro tachiuhy for your patience!

We have uploaded the Azure Kinect DK Camera CAD file with details requested:

https://github.com/microsoft/Azure-Kinect-Sensor-SDK/tree/develop/assets

ISO-10303-21;  
HEADER;  
FILE_DESCRIPTION((''),'2;1');  
FILE_NAME('CAMERA-OP_ASM','2021-02-18T10:22:17',('yuu'),(''),  
'CREO PARAMETRIC BY PTC INC, 2020044','CREO PARAMETRIC BY PTC INC, 2020044','');  
FILE_SCHEMA(('AUTOMOTIVE_DESIGN { 1 0 10303 214 1 1 1 1 }'));  
ENDSEC;  
DATA;  
...

Thank you!

António Sérgio Azevedo 7,671 Reputation points Microsoft Employee Moderator

2021-04-23T12:05:01.94+00:00
Hello @Henry Nguyen ,
Please share with us if you have any other questions related with your original post. Otherwise could you go ahead and mark the above as answer?

Thank you so much.

Remember:

Please accept an answer if correct. Original posters help the community find answers faster by identifying the correct answer. Here is how.
Henry Nguyen 61 Reputation points

2021-04-28T01:55:52.177+00:00

Thank you for support,

Share via

Where is the origin [0,0,0] of depth camera locate ?

0 additional answers

Your answer