about ros camera calibration and d435 on chip calibration values

• MartyX Grover

  • July 14, 2021 13:35
  • Edited

  Hi Eremteknoloji  The RealSense SDK makes use of  fx, fy, ppx and ppy.  The five coefficients of 400 Series cameras are deliberately set to '0'.  More information about this can be found in the link below.

  https://github.com/IntelRealSense/librealsense/issues/1430

  My understanding is that ppx and ppy in the SDK (the pixel coordinates of the principal point, or 'center of projection') correspond to cx and cy.

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• Eremteknoloji

  • July 14, 2021 13:44

  rs-enumerate-devices -c

   

  Intrinsic of "Color" / 640x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
  Width: 640
  Height: 480
  PPX: 313.393707275391
  PPY: 251.593811035156
  Fx: 615.345153808594
  Fy: 615.404357910156
  Distortion: Inverse Brown Conrady
  Coeffs: 0 0 0 0 0
  FOV (deg): 54.95 x 42.6

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• MartyX Grover

  • July 14, 2021 13:51

  For verification, here are the Color profile results from my D435i at 640x480

   

  

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• Eremteknoloji

  • July 14, 2021 14:08

  cx = fx or cx = PPX. Which one is right?

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• MartyX Grover

  • July 14, 2021 14:17

  cx = ppx

  cy = ppy

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• Eremteknoloji

  • July 14, 2021 14:22

  thanks. Good Days.

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