Calibrating Intel 435 with external cameras
Hello, I want to calibrate Intel 435 depth camera with external set of cameras, which means the world origin is outside of 435d camera body. So the extrinsic have to be adjusted accordingly. How can I proceed in this regard ? Please Help
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Hi Abhi5454 If the external cameras are also RealSense 400 Series cameras then the RealSense SDK's Python box_dimensioner_multicam example program demonstrates how multiple RealSense cameras can be automatically calibrated to a unified coordinate system by arranging the cameras around a chessboard image.
Intel have also demonstrated the use of Apriltag images to calibrate multiple RealSense camera positions together.
https://github.com/IntelRealSense/librealsense/issues/10131
If the external cameras that you are calibrating to are not RealSense cameras then the RealSense discussion at the link below may provide helpful references.
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Hi MartyG, Can you show an example to add external (not RealSense)camera as software_device ? And We would want to calibrate both RealSense and external (not RealSense) cameras using chessboard. How can we proceed with same ?
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Using a non-RealSense camera with software_device() using C++ language is discussed at the link below.
https://github.com/IntelRealSense/librealsense/issues/10067
If you are aiming to calibrate together multiple cameras at the same time (RealSense and non-RealSense) then a calibration tool called Vicalib may be an option that you can consider, as it wasn't designed for RealSense cameras but Intel RealSense team members were making use of it during 2018. They said in an Intel online seminar about multiple RealSense cameras that you can use a board that you show to each of the cameras in turn, and it establishes overlapping regions to then minimize the pose of each of those together.
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Hi MartyG, thank you for the prompt response. However, we are working with python. Are there any resources available in this regard ?
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I considered using the RealSense SDK's box_dimensioner_multicam Python example box-measuring program, as it is possible to edit the code to remove the need for calibrating the camera against the chessboard by hard-coding the camera's intrinsic and extrinsic values. However, that would not be useful in this case as it is the multicam calibration against a chessboard that you are interested in and not the box-measuring aspect.
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There is a Python project called camera-fusion that calibrates multiple cameras against a ChAruco board instead of a chessboard.
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