Calibration Parameters - Intel RealSense D400 Series User Manual

Overview
In case user needs to restore the calibration data on the device,
ResetDeviceCalibration in Calibration API can be called to programmatically restore
the device calibration to gold settings.
The CustomRW example tool also supports restore through command line option.
2.2

Calibration Parameters

Calibration parameters includes INTRINSICS and EXTRINSICS. Assume left camera is
the reference camera and is located at world origin. RGB parameters only apply to
modules with RGB, e.g., D415 and D435.
Intrinsic includes
Extrinsic includes
The calibration data read/write API allows user to upload both INTRINSICS and
EXTRINSICS. The user custom algorithm is free to optimize all these parameters. The
sample in this document optimizes both intrinsic and extrinsic parameters.
The following table shows how the various calibration tools would impact calibration
parameters for Intel® RealSense™ D400 series depth cameras.
10

To write the results into a parameter XML file and then use CustomRW to
read/write the parameters to the device.

ResetDeviceCalibration – restore device calibration to gold settings
 Focal length - specified as [fx; fy] in pixels for left, right, and RGB cameras
 Principal point - specified as [px; py] in pixels for left, right, and RGB cameras
 Distortion - specified as Brown's distortion model [k1; k2; p1; p2; k3] for left,
right, and RGB cameras

RotationLeftRight - rotation from right camera coordinate system to left camera
coordinate system, specified as a 3x3 rotation matrix
 TranslationLeftRight - translation from right camera coordinate system to left
camera coordinate system, specified as a 3x1 vector in millimeters
 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
Factory
Calibration
OEM Technician
Calibration Calibration
User Custom Dynamic
Calibration Calibration