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Realsense depth calibration [closed]

asked 2016-03-30 09:56:00 -0500

Hey All,

I am using a Realsense F200 with the realsense_camera package for 3D mapping. The camera doesn't provide registered depth images, which everything seems to need. I looked at the depth_image_proc package but it requires rectified depth and rgb images as well as the calibration data. I should be able to calibrate the rgb camera with the camera_calibration package, but how do I calibrate the depth camera? I looked at how to do it for the Kinect but I don't think that will work for the Realsense as I just get a black image when I cover the laser projector. If anyone knows how to calibrate the depth camera or get registered depth images out of this camera I could use the help.


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Closed for the following reason the question is answered, right answer was accepted by Icehawk101
close date 2016-04-18 07:38:10.786989

1 Answer

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answered 2016-04-11 08:28:34 -0500

updated 2016-04-18 07:37:58 -0500

Hi All,

So it turns out that the Realsense cameras are factory calibrated with the calibration parameters onboard the camera. The realsense_camera package I am using doesn't access this data directly. The official Intel realsense package does access this data but does not support the F200. I was able to get the calibration parameters by editing the official package so it would work on the F200. Once I had the calibration parameters I used the realsense_camera package with those, resized the depth image to match the rgb image, then used depth_image_proc to register them. It's not perfect due to the resizing but it works well enough.

[EDIT] The built in calibration parameters are very close to what I found using camera_calibration and probably don't need changed unless you require very precise results.

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Were you able to calibrate the F200? I have been trying to perform a similar calibration as the one done for the kinect ( ) but I haven't succeded because the F200 doesn't have the service set_camera_info ().


Isa gravatar image Isa  ( 2017-03-22 09:06:16 -0500 )edit

We wound up using a laser scanner instead so I did the bother continuing with this.

Icehawk101 gravatar image Icehawk101  ( 2017-10-02 07:03:47 -0500 )edit

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Asked: 2016-03-30 09:56:00 -0500

Seen: 1,647 times

Last updated: Apr 18 '16