View my account

Realsense intrinsic properties

Follow
IACTICONTROL CTIcontrol

Good morning: 

I want to put my Realsense D457 camera in some place, but maybe I will change his position. If i change his hight, orientation, rotation or any other movement, Will the following params change? :

{
    "Depth Scale": 0.0010000000474974513,
    "Depth Intrinsics": {
        "Width": 1280,
        "Height": 720,
        "PPX": 640.734619140625,
        "PPY": 365.8843078613281,
        "FX": 655.8880615234375,
        "FY": 655.8880615234375,
        "Model": "distortion.brown_conrady",
        "Coeffs": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
        ]
    },
    "Color Intrinsics": {
        "Width": 1280,
        "Height": 720,
        "PPX": 651.1820068359375,
        "PPY": 369.3982849121094,
        "FX": 648.9138793945312,
        "FY": 648.0884399414062,
        "Model": "distortion.inverse_brown_conrady",
        "Coeffs": [
            -0.05598058924078941,
            0.0651903823018074,
            -0.0002773274900391698,
            0.00034504930954426527,
            -0.020821066573262215
        ]
    },
    "Depth to Color Extrinsics": {
        "Rotation": [
            0.9999915957450867,
            0.00016650029283482581,
            -0.004091061186045408,
            -0.0001764898479450494,
            0.9999970197677612,
            -0.002441560151055455,
            0.004090642090886831,
            0.0024422616697847843,
            0.9999886751174927
        ],
        "Translation": [
            -0.05901199206709862,
            5.071703071735101e-06,
            0.00048541699652560055
        ]
    }
};
 
Thanks for your support.
0

Comments

3 comments

Date Votes
  • MartyX Grover
    • Edited

    Hi IACTICONTROL CTIcontrol  Changing the height, position or rotation of the camera should not affect these parameters.  

     

    The position and rotation described in the extrinsics relates to the fixed position (the 'translation') and rotation of a pair of sensors relative to each other (such as where the depth sensor and RGB color sensor are physically positioned on the front of the camera relative to each other).

    0
    Comment actions Permalink
  • IACTICONTROL CTIcontrol

    So that if I don't change my camera properties, they will be constant in any situation. 

    0
    Comment actions Permalink
  • MartyX Grover

    The intrinsics will change if you change the resolution from 1280x720 to another.

    0
    Comment actions Permalink

Please sign in to leave a comment.

Didn't find what you were looking for?

New post