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If you are using Windows, the D435 can be calibrated using the Dynamic Calibrator software in the link below. Please download the zip file called 'Calibration Tool' (not the Calibration API one) and install it.
https://downloadcenter.intel.com/download/28517/Intel-RealSense-D400-Series-Calibration-Tools-and-API
The user guide for the tool is here:
https://www.intel.com/content/www/us/en/support/articles/000026723/emerging-technologies/intel-realsense-technology.html
If you are using Linux, installation instructions are on page 14 of the user guide.
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