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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
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D435i mechanical parameters for installation between various camera modules? #11790

Closed JACKLiuDay closed 1 year ago

JACKLiuDay commented 1 year ago

Hi, thank you for you guys great work about librealsense. I have some problem with my realsense D435i. I want to use my lidar to provide depth param for my D435i color image. And I have the installation params between my lidar and D435i. So I need the translation and RPY params between RGB module and my ouster lidar. I found some calibration project for calculating the extrinsic parameter for lidar and camera. While these projects seem to be cumbersome. Are there external parameters installed between each lens of D435? For example, the distance parameter between the RGB lens and the installation space on the back of the camera. Or the distance between the RGB lens and the binocular lens. Could you give me some advice?

MartyG-RealSense commented 1 year ago

Hi @JACKLiuDay You can obtain the extrinsic parameters between two sensors on the same camera (such as color to depth or depth to infrared1) by launching the RealSense SDK's 'rs-enumerate-devices' tool in calibration information mode with the command rs-enumerate-devices -c

JACKLiuDay commented 1 year ago

Hi @JACKLiuDay You can obtain the extrinsic parameters between two sensors on the same camera (such as color to depth or depth to infrared1) by launching the RealSense SDK's 'rs-enumerate-devices' tool in calibration information mode with the command rs-enumerate-devices -c

Hi,thank you for your quick reply. I will try it with my D435i camera.