ZR300 fisheye intrinsics

[SSaha2]

I am running Intel Realsense ZR300 in Ubuntu 16.04.WHen I'm running cpp-enumerate devices exampple code, fisheye intrinsics can't be detected.

Device 0 - Intel RealSense ZR300:

Serial number: 4031803394

Firmware version: 2.0.71.28

USB Port ID: 2-2-2

Adapter Board Firmware version: 1.29.0.0

Motion Module Firmware version: 1.25.0.0

Camera info:

DEVICE_NAME : Intel RealSense ZR300

DEVICE_SERIAL_NUMBER: 4031803394

CAMERA_FIRMWARE_VERSION: 2.0.71.28

ADAPTER_BOARD_FIRMWARE_VERSION: 1.29.0.0

MOTION_MODULE_FIRMWARE_VERSION: 1.25.0.0

CAMERA_TYPE : PRQ-Ready

OEM_ID : OEM None

ISP_FW_VERSION : 0xd942

CONTENT_VERSION : 12

MODULE_VERSION : 4.4.0.111

IMAGER_MODEL_NUMBER : 33

CALIBRATION_DATE : 2014-07-04 08:18:35 UTC

EMITTER_TYPE : Laser Driver 4.1

FOCUS_VALUE : 0

LENS_TYPE : Newmax 58.9 x 45.9 degs in VGA

3RD_LENS_TYPE : AEOT

LENS_COATING__TYPE : Visible-light block / IR pass 43 nm width

3RD_LENS_COATING_TYPE: IR coating

NOMINAL_BASELINE : 70 mm

3RD_NOMINAL_BASELINE: 58 mm

Supported options: min max step default

COLOR_BACKLIGHT_COMPENSATION : 0 ... 1 1 0

COLOR_BRIGHTNESS : -64 ... 64 1 0

COLOR_CONTRAST : 0 ... 100 1 50

COLOR_EXPOSURE : 50 ... 666 1 166

COLOR_GAIN : 0 ... 128 1 64

COLOR_GAMMA : 100 ... 500 1 300

COLOR_HUE : -180 ... 180 1 0

COLOR_SATURATION : 0 ... 100 1 64

COLOR_SHARPNESS : 0 ... 100 1 50

COLOR_WHITE_BALANCE : 2800 ... 6500 10 4600

COLOR_ENABLE_AUTO_EXPOSURE : 0 ... 1 1 1

COLOR_ENABLE_AUTO_WHITE_BALANCE : 0 ... 1 1 1

R200_LR_AUTO_EXPOSURE_ENABLED : 0 ... 1 1 0

R200_LR_GAIN : 100 ... 6399 1 400

R200_LR_EXPOSURE : 1 ... 330 1 164

R200_EMITTER_ENABLED : 0 ... 1 1 0

R200_DEPTH_UNITS : 0 ... 2.14748e+09 1 1000

R200_DEPTH_CLAMP_MIN : 0 ... 65535 1 0

R200_DEPTH_CLAMP_MAX : 0 ... 65535 1 65535

R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT : 0 ... 255 1 5

R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT : 0 ... 255 1 5

R200_DEPTH_CONTROL_MEDIAN_THRESHOLD : 0 ... 1023 1 192

R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD : 0 ... 1023 1 1

R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD : 0 ... 1023 1 512

R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD : 0 ... 31 1 6

R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD : 0 ... 1023 1 24

R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD : 0 ... 1023 1 27

R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD : 0 ... 1023 1 7

R200_DEPTH_CONTROL_LR_THRESHOLD : 0 ... 2047 1 24

FISHEYE_EXPOSURE : 2 ... 320 1 4

FISHEYE_GAIN : 0 ... 255 1 0

FISHEYE_STROBE : 0 ... 1 1 0

FISHEYE_EXTERNAL_TRIGGER : 0 ... 1 1 0

FISHEYE_ENABLE_AUTO_EXPOSURE : 0 ... 1 1 1

FISHEYE_AUTO_EXPOSURE_MODE : 0 ... 2 1 0

FISHEYE_AUTO_EXPOSURE_ANTIFLICKER_RATE : 50 ... 60 10 60

FISHEYE_AUTO_EXPOSURE_PIXEL_SAMPLE_RATE : 1 ... 3 1 1

FISHEYE_AUTO_EXPOSURE_SKIP_FRAMES : 2 ... 3 1 2

FRAMES_QUEUE_SIZE : 1 ... 20 1 20

HARDWARE_LOGGER_ENABLED : 0 ... 1 1 0

Stream DEPTH - 36 modes:

640 x 480 @ 90Hz Z16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 90Hz DISPARITY16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 60Hz Z16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 60Hz DISPARITY16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 30Hz Z16 57.5 x 44.7 degrees, distortion = NONE

640 x 480 @ 30Hz DISPARITY16 57.5 x 44.7 degrees, distortion = NONE

628 x 468 @ 90Hz Z16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 90Hz DISPARITY16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 60Hz Z16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 60Hz DISPARITY16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 30Hz Z16 56.6 x 43.7 degrees, distortion = NONE

628 x 468 @ 30Hz DISPARITY16 56.6 x 43.7 degrees, distortion = NONE

492 x 372 @ 90Hz Z16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 90Hz DISPARITY16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 60Hz Z16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 60Hz DISPARITY16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 30Hz Z16 57.2 x 44.8 degrees, distortion = NONE

492 x 372 @ 30Hz DISPARITY16 57.2 x 44.8 degrees, distortion = NONE

480 x 360 @ 90Hz Z16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 90Hz DISPARITY16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 60Hz Z16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 60Hz DISPARITY16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 30Hz Z16 56 x 43.5 degrees, distortion = NONE

480 x 360 @ 30Hz DISPARITY16 56 x 43.5 degrees, distortion = NONE

332 x 252 @ 90Hz Z16 57 x 44.8 degrees, distortion = NONE

332 x 252 @ 90Hz DISPARITY16 57 x 44.8 degrees, distortion = NONE

332 x 252 @ 60Hz Z16 57 x 44.8 degrees, distortion = NONE

332 x 252 @ 60Hz DISPARITY16 57 x 44.8 degrees, distortion = NONE

332 x 252 @ 30Hz Z16 57 x 44.8 degrees, distortion = NONE

332 x...

[idata]

Hello Sambuddha_Saha,

The reason behind the fisheye intrinsic error is an uncalibrated camera (the fisheye calibration table is corrupted or not filled).You should return and exchange the camera from where you purchased it. If you purchased it from click.intel.com, please send an email to click.support@intel to get an RMA.If you have another question, don't hesitate to contact us.Have a nice day.Regards,Andres V.

[SSaha2]

Hi,

Can you tell me from where the calibration table is getting filled? From where the struct fisheye intrinsics is reading the calibration information? Is it from the device memory? Can the calibration table be programmed manually? Can we calibrate the fisheye camera using a third party calibration software?

[idata]

Hello Sambuddha_Saha,

If you are interested in knowing more about how to calibrate the camera, I'll suggest you to check this post, especially the comments by Pedro M.:questions about imu information of ZR300, how to calibrate the raw imu datahttps://communities.intel.com/message/489333# 489333 https://communities.intel.com/message/489333# 489333 If you have another question, don't hesitate to contact us.Have a nice day.Regards,Andres V.

[SSaha2]

Hi,

Thanks for your reply. I went through the link. But, i can't even fetch the parameters using ros. If you can give me the standard calibration values, then I can calibrate it.

[idata]

Hello Sambuddha_Saha,

After further investigation, I have to inform you that there is no way to calibrate the camera on the field. The only solution available is to return the camera.As I previously mentioned, you should return and exchange the camera from where you purchased it. If you purchased it from click.intel.com, please send an email to click.support@intel to get an RMA.I apologize for the inconvenience this has caused.Regards,Andres V.

[SSaha2]

Hi,

There is a third party software Kalibr. Can't we use it to calibrate the fisheye? Also, when I read the contents of the flash buffer, the fisheye section doesn't have any values. It is all zeroes. I printed all the 1024 values to see them. The fisheye intrinsics are set from starting address 0 to 256. But they are all zeroes. And since, its an EEPROM, if you can provide us the values, we can manually set it, right?

[idata]

Hello Sambuddha_Saha,

As I previously mentioned, there is no way to calibrate the camera on the field. The information that you requested is not available. Please keep in mind that since calibrating the camera with a third party software has not been validated, it is not recommended.I'm sorry for the inconvenience this has caused.Regards,Andres V.