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Calibrate extrinsic for D435i

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Yixun Liu

Hi,

I need precise extrinsic parameters between the left infrared and the color camera of D435i.

I use the command: rs-enumerate-devices -c to list it, but this value does not satisfy our requirement for the accuracy.

Does Intel provide some tools to do it?

Thanks a lot.

Yixun

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  • MartyG

    Hi Yixun Liu  The rs-enumerate-devices -c method of obtaining intrinsics and extrinsics is a very good one.  It is also worth bearing in mind that the left infrared / color extrinsics are provided in two different sets of values - left IR to color, and also color to left infrared, so it is important to use the appropriate set of extrinsics from that pair.  'Left infrared to color' is likely to be the set of values that you require.

     

    If you would prefer an alternative method for retrieving extrinsics, Intel's Dynamic Calibration tool can report the extrinsics as the following:

    RotationLeftRGB - rotation from RGB camera coordinate system to left camera coordinate system, specified as a 3x3 rotation matrix

    TranslationLeftRGB - translation from RGB camera coordinate system to left camera coordinate system, specified as a 3x1 vector in millimeters

     

    https://dev.intelrealsense.com/docs/intel-realsensetm-d400-series-calibration-tools-user-guide#section-2-1-calibration-parameters

     

    If you are using Linux then you can find installation instructions for the Dynamic Calibration tool on page 14 onwards of the PDF user guide at the link above.

    If you are using Windows 10 then it can be downloaded at the link below:

    https://www.intel.com/content/www/us/en/download/645988/intel-realsense-d400-series-dynamic-calibration-tool.html

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  • Yixun Liu

     I will check it.

    Thank you MartyG!

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