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D415 camera origin

RMadh2
Beginner
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The conventional origin for RealSense Cameras is the center/middle of the depth sensor, as per my understanding, Which would be the depth sensor for a Stereo Camera like the Intel RealSense D415?

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MartyG
Honored Contributor III
140 Views

The 400 Series cameras' data sheet document quotes the stereo baseline as being the distance between the center of the left and right imagers. The baseline is 55 mm on the D415 and 50 mm on the D435.

RMadh2
Beginner
140 Views

Yeah, but I don't want the baseline. I need the origin of the x,y,z coordinate system. Is it the left imager,right imager, rgb sensor or the IR projector, or some other point in the camera?

MartyG
Honored Contributor III
140 Views

RealSense stereo cameras tend to rely on the left imager to generate the image. From the data sheet: "The left and right imagers capture the scene and sends imager data to the depth imaging processor, which calculates depth values for each pixel in the image by correlating points on the left image to the right image and via shift between a point on the Left image and the Right image."

The dynamic calibration guide for the 400 Series, meanwhile, says: "Assume left camera is the reference camera and is located at world origin."

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

RMadh2
Beginner
140 Views

Thank You, that is what I am looking for. I have another doubt though; If I capture an image from the RGB sensor, will the points in that, correspond to the points in the left imager? If not, is there any way I can capture the left imager output as RGB?

 

Not sure how it works.
MartyG
Honored Contributor III
140 Views

A way to ensure that the RGB matches up to the imager data may be to use an align instruction, as described in the Align sample that comes with the RealSense SDK 2.0, to align the RGB and depth streams..

https://github.com/IntelRealSense/librealsense/tree/master/examples/align librealsense/examples/align at master · IntelRealSense/librealsense · GitHub

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