Table of Contents
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Contents
Introduction ....................................................................................................... 8
1
1.1
1.2
2
Overview .......................................................................................................... 9
2.1
2.2
2.3
2.4
2.5
3
Setup ............................................................................................................. 13
3.1
3.2
4
Calibrating Device with Custom Calibration Sample Application.............................. 21
4.1
4.2
4.3
4.4
4.5
5
Developing Custom Calibration Application .......................................................... 42
5.1
5.2
5.3
3
Purpose and Scope of This Document ........................................................ 8
Organization .......................................................................................... 8
Calibration API and Calibration Data Read/Write/Restore ............................. 9
Calibration Parameters .......................................................................... 10
Frame Formats Used in Custom Calibration .............................................. 11
Frame Sync .......................................................................................... 11
Accuracy .............................................................................................. 11
Hardware ............................................................................................. 13
3.1.1
Device .................................................................................... 14
3.1.2
Target .................................................................................... 14
3.1.3
Tripod .................................................................................... 15
3.1.4
USB ....................................................................................... 17
3.1.5
PC ......................................................................................... 17
Software .............................................................................................. 17
3.2.1
Custom Calibration Sample Application ....................................... 17
3.2.2
Intel® RealSense™ Calibration Tool and API ............................... 18
3.2.3
Intel® RealSense™ SDK ........................................................... 19
3.2.4
OpenCV 3.3.0 ......................................................................... 19
3.2.5
Glut Library ............................................................................ 20
Process Overview .................................................................................. 21
Connect Device to Computer .................................................................. 21
Running Custom Calibration Sample Application ....................................... 21
4.3.1
Starting Application ................................................................. 21
4.3.2
Capturing Images from 6 Viewpoints .......................................... 22
Calibration Result .................................................................................. 35
Updating Results to Device ..................................................................... 37
4.5.1
Depth Quality Check before Updating Calibration ......................... 38
4.5.2
Writing Optimized Calibration to Device ...................................... 38
4.5.3
Depth Quality Check after Updating Calibration ........................... 40
Sample Application Source Code and Compile ........................................... 42
Calibration Mode Camera Configuration ................................................... 44
5.2.1
Emitter ................................................................................... 44
5.2.2
Auto Exposure ......................................................................... 44
5.2.3
Streaming Resolution and Format .............................................. 45
5.2.4
Image Captures ....................................................................... 45
5.2.5
Demosaic Left/Right Images for ASR / PSR SKUs ......................... 45
Detecting the Chessboard in an Image with OpenCV ................................. 45
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