realsense underwater calibration issue

Hi

we would like to use D415 to calculate the dimensions of objects underwater.

 

The depth measurement doesn’t work as expected underwater so we tried to calibrate the camera but without success

 

I tried to calibrate it using intel dynamic calibration tool but after finishing all the progress I got err msg, I don’t remember the error exactly but it was something like the parameters out of range 

 

Also I tried calibrate it using intel custom calibration tool and got the following err

 Error (2003): right camera intrinsics unreasonable.

 

 CalibrationParameters.xml :

<?xml version="1.0"?>

<Config>

    <param name = "ResolutionLeftRight">

        <value>1920</value>

        <value>1080</value>

    </param>

    <param name = "FocalLengthLeft">

        <value>1779.58</value>

        <value>1779.58</value>

    </param>

    <param name = "PrincipalPointLeft">

        <value>933.349</value>

        <value>528.637</value>

    </param>

    <param name = "DistortionLeft">

        <value>0.561952</value>

        <value>0.0523446</value>

        <value>-0.0115425</value>

        <value>-0.0173872</value>

        <value>-0.400511</value>

    </param>

    <param name = "FocalLengthRight">

        <value>1784.27</value>

        <value>1784.27</value>

    </param>

    <param name = "PrincipalPointRight">

        <value>1026.14</value>

        <value>531.436</value>

    </param>

    <param name = "DistortionRight">

        <value>0.553344</value>

        <value>0.577333</value>

        <value>-0.00462277</value>

        <value>0.0285169</value>

        <value>-3.39496</value>

    </param>

    <param name = "RotationLeftRight">

        <value>0.998673</value>

        <value>-0.000703848</value>

        <value>-0.0515042</value>

        <value>0.000638708</value>

        <value>0.999999</value>

        <value>-0.00128121</value>

        <value>0.0515051</value>

        <value>0.00124661</value>

        <value>0.998672</value>

    </param>

    <param name = "TranslationLeftRight">

        <value>-57.1089</value>

        <value>0.232227</value>

        <value>-0.87117</value>

    </param>

    <param name = "HasRGB">

        <value>1</value>

    </param>

    <param name = "ResolutionRGB">

        <value>1920</value>

        <value>1080</value>

    </param>

    <param name = "FocalLengthRGB">

        <value>1885.02</value>

        <value>1885.02</value>

    </param>

    <param name = "PrincipalPointRGB">

        <value>926.624</value>

        <value>532.308</value>

    </param>

    <param name = "DistortionRGB">

        <value>0.65894</value>

        <value>-0.749079</value>

        <value>-0.00991082</value>

        <value>-0.0188965</value>

        <value>0.0607226</value>

    </param>

    <param name = "RotationLeftRGB">

        <value>0.999998</value>

        <value>-0.000232411</value>

        <value>0.00197259</value>

        <value>0.000234087</value>

        <value>1</value>

        <value>-0.000849467</value>

        <value>-0.00197239</value>

        <value>0.000849927</value>

        <value>0.999998</value>

    </param>

    <param name = "TranslationLeftRGB">

        <value>15.3768</value>

        <value>-0.431579</value>

        <value>4.3694</value>

    </param>

</Config>

 

 

Also, we tried to buy intel OEM calibration target but it's out of stock :(

 

Can anyone help please