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Intel realsense D435 calibration not working

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Cedric Vanloon

For our masters thesis we are trying to calibrate the realsense D435 within Halcon(machine vision software). To do this we take pictures using the intelrealsense viewer and later import them into halcon. When we take pictures with a resolution of 640x480 halcon has no problems finding calibration marks on these images. But when we increase the resolution to 1920x1080 it can no longer register these marks. Anyone knows what can be the cause of this?

  • 640x480

  • 1920x1080

Thanks in advance

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10 comments

Date Votes
  • MartyX Grover
    • Edited

    Hi Cedric Vanloon  The 1920x1080 image looks blurred compared to the 640x480 one.  Did you manually resize the 640x480 image or did you use the Snapshot button in the top corner of the Viewer window to export a PNG image whilst streaming at 1920x1080?

     

     

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  • Cedric Vanloon

    Hi MartyX Grover

    I did not manually resize it, I did it as you described above.

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  • MartyX Grover

    To check whether the blue area that is captured in the camera view at the higher resolution is responsible for the problem, I created a clean edit of the 1920x1080 image.  Please right-click on the image below and select Save Image As to save the image file and then test it in your project.

     

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  • Cedric Vanloon

    Thanks, the image you edited still does not work. The marks cannot be found...
    So i don't think the conveyor belt(blue area) is the problem.

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  • MartyX Grover

    Halcon has dedicated software called HDevelop with functions in its Camera Calibration Assistant tool for calibrating with the calibration plate shown in your image. 

    https://www.mvtec.com/products/halcon/work-with-halcon/hdevelop/assistants

    If the Image Acquisition Assistant option is selected instead of Image on the Camera Calibration Assistant window then the Assistant should have an option to use a Snap button to capture an image of the calibration plate to use for the calibration, as described in Halcon's YouTube tutorial video for calibrating a single camera in the link below. 

    https://www.youtube.com/watch?v=iEjH244KRbw&t=196s

    Would using this tool instead of a PNG saved from the Viewer be an option for your Halcon project, please?

     

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  • Cedric Vanloon

    I am aware of this feature and when we import foto's it can detect the calibration marks. When we use the snap button as described above it does not register the marks, this is a problem i have also sent to halcon.

    • live image acquisition

    • importing of image files

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  • MartyX Grover

    Yes, I mentioned earlier in the discussion that the 1920x1080 PNG image seemed blurred, and the image import tool seems to agree, stating that Marks on plate are out of focus.

    When generating a PNG with the Viewer, you could therefore go to the Controls section of the RGB options in the Viewer side-panel and maximize the slider beside the Sharpness option to sharpen the original image before exporting it with the Snapshot buton, and see whether the resulting PNG is more recognizable when imported.

     

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  • Cedric Vanloon

    Thanks for the help, i managed to get it working. I think the problem is in the halcon software, when taking pictures of 1280x720 it suddenly works, even without quality issues. And it also works using the image aquisition assistant!

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  • MartyX Grover

    That's great to hear, Cedric Vanloon - thanks very much for the update!

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  • Luisf Lopez Mendoza

    Hello Cedric Vanloon, can I ask you two things:

    1- How did you manage to get the colour image directly from HALCON Image Assistant? I'm currently using a FRAMOS D415e and Realsense HALCON Interface, but it always retrieve depth information; to get a colour image I have to use the HDev script grab_data, but it doesn't work in the assistant.

    2- Wich distorion model did you use (Areascan Division?) 

    Best regards,

     

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