is default camera calibration reliable?

• MartyG

  • July 17, 2019 11:37
  • Edited

  RealSense 400 Series cameras have their depth related components calibrated in the factory (though the IMU component in the D435i is not and has to be user-calibrated).  They do sometimes need to be recalibrated though.  

  There are a range of conditions that can alter a camera in ways that require recalibration.  These include a physical shock such as a hard knock or a drop on the ground (and possibly severe vibration).  The caseless Module Kit boards may also need recalibrating if they are flexed whilst handling them.

  If you want to write extrinsics to the camera with code, there is an instruction called register_extrinsics_to - though I would recommend using the calibration tool instead.

  https://github.com/IntelRealSense/librealsense/issues/2249

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• Dobariyanikunj4

  • July 17, 2019 12:00
  • Edited

  @MartyG My camera has not drop or got hard knock. So, can I use RGB image taken from camera without doing calibration again?

   

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• MartyG

  • July 17, 2019 12:13
  • Edited

  I would recommend doing a calibration in the Dynamic Calibrator tool's 'targeted' calibration mode (where you calibrate using a target) to ensure that the RGB is calibrated as well as the left / right depth.

  https://dev.intelrealsense.com/docs/intel-realsensetm-d400-series-calibration-tools-user-guide#section-2-2-types-of-dynamic-calibration

   

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• Dobariyanikunj4

  • July 18, 2019 11:25

  @MartyG I have done calibration using that tool, but in result it gives RGB sensor has zero distortions. so, maybe default calibration is good. is recalibration must or can I use alos without recalibration ?

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• MartyG

  • July 18, 2019 11:36

  Recalibration is a totally optional choice.  If you think the calibration is good and the image or data that you are getting seems correct then you do not have to do it.

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• Dobariyanikunj4

  • July 18, 2019 12:56

  small question: RGB sensor has zero distortions coeficient in factory calibration, means it is already rectified image. so, how intel perform factory calibration before user purchase?

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• MartyG

  • July 18, 2019 13:08
  • Edited

  Intel has an 'OEM calibration' system designed for factories and engineering departments.  It has advances over the free calibration software, including the ability to calibrate both extrinsics and intrinsics (the free version can only calibrate extrinsics), calibrate multiple cameras simultaneously and connect remotely through a Linux server.  Intel sell the system in their online Click store for $1500 USD.  The majority of that price is the cost of manufacturing the large physical calibration target board.

  https://store.intelrealsense.com/buy-intel-realsense-d400-cameras-calibration-target.html

  Intel non disclosure agreement (NDA) customers may be able to get the OEM calibrator software on its own by contacting their local Intel representative.  If you would like to register with Intel for an NDA agreement, a member of Intel's support team should be able to guide you in getting you started on that process.

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