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How would one extract the components of the intrinsic and extrinsic calibration parameters from OpenNI for a device such as the PrimeSense?

After some searching I only seem to find how to do it through ROS, but it is not clear how it would be done with just OpenNI.

Jack H
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    Is this for matching depth and color data ? – George Profenza Dec 15 '16 at 12:20
  • Intrinsics are for the sensor calibrations, for projection etc, extrinsics are the calibration params between the sensors and the world. https://en.wikipedia.org/wiki/Camera_resectioning#Intrinsic_parameters – Jack H Dec 15 '16 at 13:18

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