Multi camera calibration for D435i

[kickserver]

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Required Info
Camera Model	{ R200 / F200 / SR300 / ZR300 / D400 }
Firmware Version	(Open RealSense Viewer --> Click info)
Operating System & Version	{Win (8.1/10) / Linux (Ubuntu 14/16/17) / MacOS
Kernel Version (Linux Only)	(e.g. 4.14.13)
Platform	PC/Raspberry Pi/ NVIDIA Jetson / etc..
SDK Version	{ legacy / 2.<?>.<?> }
Language	{C/C#/labview/nodejs/opencv/pcl/python/unity }
Segment	{Robot/Smartphone/VR/AR/others }

Issue Description

Hi,

I am using 3 D435i for multicamera volume reconstruction on Win 10.

I noticed that I need camera extrinsics to stitch multiple color and depth images.

Is there any Python/C++ script that I can calibrate my D435i cameras?

I searched and read the example, but I am curious whether there are better solutions.

Thank you in advance.

[MartyG-RealSense]

Hi @kickserver The commercial reconstruction tool RecFusion Pro which supports use of multiple RealSense cameras could meet your needs as it has a built-in multicam calibration function.

https://www.recfusion.net/products/

RecFusion's user guide has information about multicam calibration in the section headed Multi-Sensor Calibration (RecFusion Pro only)

https://www.recfusion.net/user-guide/

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In regard to free multicam calibration solutions, my Intel RealSense colleagues suggested in 2018 to use Vicalib to calibrate multiple 400 Series cameras. They said "It uses a board that you show to each of the cameras in turn., and it establishes overlapping regions to then minimize the pose of each of those together".

https://github.com/arpg/vicalib

[kickserver]

Thank you!