Realsense depth calibration [closed]

edit

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.