how to get the intel D435 intrinsic and extrinsic calibration information

[super-scyu]

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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.. }

Issue Description

<Describe your issue / question / feature request / etc..>

[SimonLit]

Intrinsic information can be gatherd in the following way:
auto const i = pipe.get_active_profile().get_stream(RS2_STREAM_DEPTH).as<rs2::video_stream_profile>().get_intrinsics(); Where pipe is of type rs2::pipeline. Change RS2_STREAM_DEPTH if you want intrinsic data from a different stream.

Gathering extrinsic data can be done in the same way but replacing get_intrinsics() with get_extrinsics_to(const rs2::stream_profile &to).

I don't know if this is the right way of doing it but it is a way to get the intrinsic and extrinsic data.

[Gnimuc]

you could also refer to sensor-control example for details:

librealsense/examples/sensor-control/rs-sensor-control.cpp

Lines 108 to 126 in 8145416

	void show_stream_intrinsics(rs2::device device, rs2::sensor sensor)
	{
	// Each stream has its own intrinsic information, first choose a stream, then display its intrinsics
	rs2::stream_profile selected_profile = how_to::choose_a_streaming_profile(sensor);
	how_to::get_field_of_view(selected_profile);
	}
	void show_extrinsics_between_streams(rs2::device device, rs2::sensor sensor)
	{
	// A rs2::device can have its sensors and streams calibrated and provide the extrinsics between 2 streams.
	std::cout << "Please choose a sensor and then a stream that will be used as the origin of extrinsic transformation:\n" << std::endl;
	rs2::sensor from_sensor = how_to::get_a_sensor_from_a_device(device);
	rs2::stream_profile from = how_to::choose_a_streaming_profile(from_sensor);
	std::cout << "Please choose a sensor and then a stream that will be used as the target of extrinsic transformation::\n" << std::endl;
	rs2::sensor to_sensor = how_to::get_a_sensor_from_a_device(device);
	rs2::stream_profile to = how_to::choose_a_streaming_profile(to_sensor);
	how_to::get_extrinsics(from, to);
	}

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment]
@super-scyuare
are those examples able to solve your issue?

[super-scyu]

thankyou ,but i how to ootput intrinsics and extrinsics

[super-scyu]

how to output intrinsics and extrinsics

[super-scyu]

and i use the sensor-control example but there is no Distortion

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment]
Hi @super-scyu,
you can download the calibrationAPI-2.5.2.0-Setup.exe through below link
https://downloadcenter.intel.com/download/27415/Intel-RealSense-D400-Series-Dynamic-Calibration-Software-Tools

after installation, you should able to find the executable Intel.Realsense.CustomRW.exe under
C:\CalibrationToolAPI\2.5.2.0\bin

Intel.Realsense.CustomRW.exe : show all options
Intel.Realsense.CustomRW.exe -r output the calibration data to file

the source code is also provided under C:\CalibrationToolAPI\2.5.2.0\examples
best

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment]
Hi @super-scyu,
could the calibrationAPI package solve your problem?

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment]
Hi @super-scyu,
are the two package provided through below link can help on your need?
https://downloadcenter.intel.com/download/27415/Intel-RealSense-D400-Series-Dynamic-Calibration-Software-Tools

[narutojxl]

when launch D435 roslaunch realsense2_camera rs_camera.launch, there are some info topics about intrinsic, and some extrinsics topics about extrinsic params. Launch urdf file roslaunch realsense2_description view_d435_model.launch to see better.

/camera/color/camera_info
/camera/depth/camera_info, /camera/infra1/camera_info, /camera/infra2/camera_info, the 3 topics are the same.
/camera/extrinsics/depth_to_color
/camera/extrinsics/depth_to_infra1
/camera/extrinsics/depth_to_infra2

But it is wired that distortion params in info topic are all 0, Does anyone know how to get these params, not by do a calibration to camera by user?