topic D415 Camera Intrinsic Parameters in Items with no label

D415 Camera Intrinsic Parameters

GMcLe — Fri, 09 Feb 2018 22:16:15 GMT

Are the D415 generic intrinisic parameters published anywhere? More specifically, I'm looking for:

fx & fy - the focal lengths in the x & y directions respectively.
cx & cy - that represent the x & y of the principal point.

Thanks for the help.

Re: D415 Camera Intrinsic Parameters

MartyG — Fri, 09 Feb 2018 23:03:06 GMT

The focal length of the D415's left and right imagers is 1.88 mm. The color sensor's focal length is 1.93 mm. In the RealSense SDK 2.0 software, the focal length is described by fx and fy as a multiple of pixel width and height.

I do not have data on the cx and cy of the camera. The 400 Series' dynamic calibration guide describes the principal point in terms of px and py

"Principal point - specified as [px; py] in pixels for left, right, and RGB cameras"

Re: D415 Camera Intrinsic Parameters

idata — Fri, 09 Feb 2018 23:42:28 GMT

Hello GregJM,

Marty is right about the information he has shared with you. In the following link you will find the Intel® RealSense™ Depth Module D400 Series Software Calibration Tool, this guide specifies how to change the calibration.

https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/RealSense_D400_Dyn_Calib_Programmer.pdf

Hope this helps to clarify your question.

Best Regards,

Juan N.