有人纠正我，如果我错了，但可能会有一些轻微的偏移，你可以从内在的相机参数cx，cy中找到它（你可以测量自己使用任何类型的相机校准程序，或找到您可以在坐标映射示例中看到的工厂
设置值）。如果这些正好是512/2和424/2，那么相机与CCD阵列的中心完全对齐。在我已经剥离的Kinects上，我从来没有注意到CCD对于附着有电路板的内部散热器有任何
的偏移量。

Hello,

I have a question about the positioning of the camera lens on Kinect 2. Please look at the following picture.

Can I ask you if the camera looks perfectly in front of the Kinect (red arrow), or is lightly tilted like the blue arrow? Probably it's a strange question, but I'm encountering some problems, and this could be the reason...

Thanks and regards

Someone correct me if I'm wrong but, there will probably be some slight offset, which you can probably find out from the intrinsic camera parameters cx, cy (which you can either measure yourself using any type of camera calibration routine, or find the factory set values that you can see in the coordinate mapping example). If these are exactly 512/2 and 424/2 then the camera is perfectly aligned with the centre of the CCD array. On the Kinects that I've stripped down I have never noticed the CCDs having any kind of offset to the internal heat sink onto which the boards are attached.