---
breaks: False
---

# K4A: retrieval of calibration parameters

digraph{
ordering=out;
node[shape=box];
  devOpen[label=<k4a_device_open<br/><font point-size="8">src/sdk/k4a.c</font>>]
  devGetCal[label=<k4a_device_get_calibration
  <br/> <font point-size="8"> src/sdk/k4a.c <br/>
  postprocs and returns params
  obtained from the device during k4a_device_open</font>>]
  calGetCam[label=<calibration_get_camera<br/>
  <font point-size="8"> src/calibration/calibration.c </font>>]
  trGetModeSpecCal[label=<transformation_get_mode_specific_calibration<br/> <FONT point-size="8">src/transformation/transformation.c<br/>
  "mode" here refers to resolution, fov, and aspect ratio,
 <br/>and whether to send only depth or depth+passive ir</FONT>>]
  calGetCtx[label=<calibration_t_get_context <br/><font point-size="8">src/calibration/calibration.c</font>>]
  calCreate[label=<calibration_create<br/><font point-size="8">src/calibration/calibration.c<br/>
  1. retrieves JSON over usb and stores it in the handle<br/>
  2. passes that JSON to ...create_from_raw</font>>]
  calCreateFromRaw[label=<calibration_create_from_raw<br/><font point-size="8">src/calibration/calibration.c<br/></font>>]
  readExtrinsic[label=<read_extrinsic_calibration <br/><font point-size="8">src/calibration/calibration.c</font>>]
  depthmcuExtrinsic[label=<depthmcu_get_extrinsic_calibration<br/>
  <font point-size="8">Asks device for a JSON with parameters</font>>]
  fill_in_camera_cal_data[label=<fill_in_camera_cal_data<br/>
  <font point-size="9"> src/calibration/calibration.c<br/>
  takes JSON<br/>
  fills in intrinsics, rotation, etc</font>>]
 
  
  devGetCal->calGetCam
  calGetCam->calGetCtx
  devGetCal->trGetModeSpecCal
  devOpen->calCreate
  calCreate->readExtrinsic
  readExtrinsic->depthmcuExtrinsic
  depthmcuExtrinsic->usb_cmd_read
  calCreate->calCreateFromRaw
  calCreateFromRaw->get_camera_calibration
  get_camera_calibration->fill_in_camera_cal_data
  fill_in_camera_cal_data->fill_intrinsics
}