From 696f2697699ad2016dc0e354f8f1ef0a774b7b2e Mon Sep 17 00:00:00 2001
From: Vadim Pisarevsky <vadim.pisarevsky@me.com>
Date: Tue, 5 Jan 2021 22:19:53 +0800
Subject: [PATCH 1/2] added orbbec camera intrinsic parameters for kinfu demo

---
 modules/rgbd/samples/io_utils.hpp | 30 ++++++++++++++++++++++++++++--
 1 file changed, 28 insertions(+), 2 deletions(-)

diff --git a/modules/rgbd/samples/io_utils.hpp b/modules/rgbd/samples/io_utils.hpp
index c96d6c5345d..a0570bdeff3 100644
--- a/modules/rgbd/samples/io_utils.hpp
+++ b/modules/rgbd/samples/io_utils.hpp
@@ -89,6 +89,19 @@ static const float k2    = -0.34f;
 static const float k3    = 0.12f;
 };  // namespace Kinect2Params
 
+namespace AstraParams
+{
+static const Size frameSize = Size(640, 480);
+// approximate values, no guarantee to be correct
+static const float fx    = 535.4f;
+static const float fy    = 539.2f;
+static const float cx    = 320.1f;
+static const float cy    = 247.6f;
+static const float k1    = 0.0f;
+static const float k2    = 0.0f;
+static const float k3    = 0.0f;
+};  // namespace Kinect2Params
+
 struct DepthSource
 {
    public:
@@ -97,7 +110,8 @@ struct DepthSource
         DEPTH_LIST,
         DEPTH_KINECT2_LIST,
         DEPTH_KINECT2,
-        DEPTH_REALSENSE
+        DEPTH_REALSENSE,
+        DEPTH_ASTRA
     };
 
     DepthSource(int cam) : DepthSource("", cam) {}
@@ -116,7 +130,10 @@ struct DepthSource
             vc = VideoCapture(VideoCaptureAPIs::CAP_OPENNI2 + cam);
             if (vc.isOpened())
             {
-                sourceType = Type::DEPTH_KINECT2;
+                if(cam == 20)
+                    sourceType = Type::DEPTH_ASTRA;
+                else
+                    sourceType = Type::DEPTH_KINECT2;
             }
             else
             {
@@ -201,6 +218,15 @@ struct DepthSource
 
                 frameSize = Kinect2Params::frameSize;
             }
+            else if (sourceType == Type::DEPTH_ASTRA)
+            {
+                fx      = AstraParams::fx;
+                fy      = AstraParams::fy;
+                cx      = AstraParams::cx;
+                cy      = AstraParams::cy;
+
+                frameSize = AstraParams::frameSize; 
+            }
             else
             {
                 if (sourceType == Type::DEPTH_REALSENSE)

From 735ab6e934f0a5ef2148196b80656fc4183e3395 Mon Sep 17 00:00:00 2001
From: Vadim Pisarevsky <vadim.pisarevsky@gmail.com>
Date: Thu, 14 Jan 2021 17:42:43 +0800
Subject: [PATCH 2/2] removed trailing whitespace

---
 modules/rgbd/samples/io_utils.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/rgbd/samples/io_utils.hpp b/modules/rgbd/samples/io_utils.hpp
index a0570bdeff3..f0a3a1e7372 100644
--- a/modules/rgbd/samples/io_utils.hpp
+++ b/modules/rgbd/samples/io_utils.hpp
@@ -225,7 +225,7 @@ struct DepthSource
                 cx      = AstraParams::cx;
                 cy      = AstraParams::cy;
 
-                frameSize = AstraParams::frameSize; 
+                frameSize = AstraParams::frameSize;
             }
             else
             {