Calibration for 640*480 resolution for both depth and color.

[cChap3]

Hi,

I'm using an Intel Realsense d435, and I'm trying, to calibrate the camera using the Intel RealSense Dynamic Calibrator. I would like to know if there is any possibilities to make the calibration, with my own configuration settings, create by the Realsense Viewer as json file?

Thanks in advance.

[MartyG]

To write calibration settings to the camera, you can use a program called CustomRW that is part of the dynamic calibrator software.. You can read about it in section 4.3 on page 33 of the programmers guide for calibration software.

https://www.intel.com/content/www/us/en/support/articles/000026724/emerging-technologies/intel-realsense-technology.html

[cChap3]

Hi thanks for your answer,

The CustomRW documentation is not very clear...

We must make it on Y16 but that is not allowed for my resolution and isn't working when I change to Y8.

I'm more python than c++ and I dont find any solution.

And I don't know understand if this tool could help me for knowing the intrinsics parameters.

[MartyG]

Y16 is an "unrectified" (raw) camera stream that is meant only for use in camera calibration and not for applications. This is why it only supports two resolutions, at 15 FPS or 25 FPS. Y8 meanwhile is "rectified" (meaning that changes are applied to the camera data), so Y8 is not suited for use in calibration.

There is no rule against using Y16 if you have to, but it is not recommended and you will be very limited in the stream resolution / FPS that you can use.

The SDK has a tool called rs-enumerate-devices that can provide calibration information by using the '-c' parameter. For example:

rs-enumerate-devices - c

https://github.com/IntelRealSense/librealsense/tree/master/tools/enumerate-devices.

The tool can be used to display the intrinsics and extrinsics of cameras in a console window.

This tool is also available as a pre-made executable application in the SDK folder Intel RealSense SDK 2.0 > tools

Also, an alternative camera calibration method to the official Intel calibration software that you might like to explore, which Intel themselves make use of, is a tool called Vicalib. In this tool, cameras can be calibrated by showing a board to them.

https://github.com/arpg/vicalib