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RealSense D400 Series
Intel RealSense D400 Series Manuals
Manuals and User Guides for Intel RealSense D400 Series. We have
1
Intel RealSense D400 Series manual available for free PDF download: User Manual
Intel RealSense D400 Series User Manual (49 pages)
Brand:
Intel
| Category:
3D camera
| Size: 2.73 MB
Table of Contents
Table of Contents
3
1 Introduction
8
Purpose and Scope of this Document
8
Organization
8
2 Overview
9
Calibration API and Calibration Data Read/Write/Restore
9
Figure 2-1 Software Stack with Dynamic Calibration API and Calibration Apps
9
Calibration Parameters
10
Frame Formats Used in Custom Calibration
11
Frame Sync
11
Accuracy
11
Table 2-1. Frame Formats Used in Custom Calibration
11
3 Setup
13
Hardware
13
Figure 3-1 Hardware Setup
13
Device
14
Figure 3-2 D415 Device
14
Target
14
Figure 3-3 8X7 60X60 MM Checker Calibration Target
15
Tripod
15
Figure 3-4 Tripod
16
Usb
17
Software
17
Custom Calibration Sample Application
17
Intel® Realsense™ Calibration Tool and API
18
Table 3-1. Intel® Realsense™ Calibration API Resources
18
Intel® Realsense™ SDK
19
Opencv 3.3.0
19
Table 3-2. Intel® Realsense™ SDK Resources
19
Glut Library
20
Table 3-3. Opencv 3.3.0 Resources
20
Table 3-4. Opencv 3.3.0 Libraries Required for the Example
20
4 Calibrating Device with Custom Calibration Sample Application
21
Process Overview
21
Connect Device to Computer
21
Running Custom Calibration Sample Application
21
Starting Application
21
Capturing Images from 6 Viewpoints
22
Figure 4-1 Center Right Position
25
Figure 4-2 Viewpoint #1
26
Figure 4-3 Center Right
27
Figure 4-4 Viewpoint #2
28
Figure 4-5 Left
29
Figure 4-6 Viewpoint #3
29
Figure 4-7 Right
30
Figure 4-8 Viewpoint #4
31
Figure 4-9 Top Looking down
32
Figure 4-10 Viewpoint #5
33
Figure 4-11 Bottom Looking up
34
Figure 4-12 Viewpoint #6
34
Calibration Result
35
Updating Results to Device
37
Depth Quality Check before Updating Calibration
38
Writing Optimized Calibration to Device
38
Figure 4-13 Depth Quality before Updating Calibration
38
Figure 4-14 Updating Calibration Parameters to Device
39
Depth Quality Check after Updating Calibration
40
Figure 4-15 Calibration Parameter Change
40
5 Developing Custom Calibration Application
42
Sample Application Source Code and Compile
42
Figure 5-1 General Process for Custom Calibration
42
Calibration Mode Camera Configuration
44
Emitter
44
Auto Exposure
44
Streaming Resolution and Format
45
Image Captures
45
Demosaic Left/Right Images for ASR / PSR Skus
45
Detecting the Chessboard in an Image with Opencv
45
Calculating Depth Camera Calibration with Opencv
46
Calculating RGB Camera Calibration with Opencv
47
Calculating RGB Camera Calibration Extrinsics with Opencv
47
Writing Calibration Parameters
48
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