Happy to work for 8 days on the National Day. It’s really cool to change the code. The talent is everything. The origin of this blog is because I did an experiment, and the effective distance of the camera is really bad. I called the technician and said their effective distance 4m, and then the edge difference is 2%, which is outrageous. The effective distance of my equipment is about 1m, and sometimes it is not accurate in the middle, let alone the edge, so take a look at the calibration.
1. Download the Viewer tool
Official website download link: Intel RealSense SDK 2.0 – Intel RealSense Depth and Tracking cameras
My Baidu Netdisk: Link: https://pan.baidu.com/s/1QXYS3UPEQCtUkuH_6G60PA Extraction code: s1h1
2. Open Intel RealSense Viewer and connect the device (eg: D435i)
3. First click "More" - "Install Recommended Firmware" to install the recommended firmware version and wait for the firmware to be flashed in
4. The scenarios of Self-Calibration can generally be divided into three types
4.1 Big White Wall
Find a flat and large white wall, fix the camera, click "More" - "On-Chip Calibration", in the pop-up window that appears on the right, select: fast in Speed, and then select Intrinsic and Extrinsic ), just tune one by one.
In the pop-up window that appears on the right, you can see two values Health-Check and FL Health-Check
When HC<0.25, FL HC<0.15, keep the original calibration data, click "Dismiss" to ignore.
When HC>0.25, FL HC>0.15, improve the original calibration data, that is, click "Apply New" to apply the new calibration data, and run On-Chip Calibration again, and continue to observe the two values until they are respectively lower than 0.25 and 0.15,
If HC or FL HC>0.75, the original calibration data must be improved, and it is recommended to use dynamic calibration or OEM calibration directly
4.2 In any environment (note that the effective depth covers more than 50%)
Repeat the above operations, in the Speed selection, if the Depth quality drops significantly, it is recommended to select "Slow", if you want to do regular improvement of Depth, you can select "Fast", and adjust the two parameters to be within the Good range.
4.3 Ideal Scenario: A Textured Flat Target
Print and calibrate the texture target paper, fix the target paper on the wall, align, and repeat the operation. In the Speed selection, if the depth quality drops significantly, it is recommended to select "Slow". If the depth (quality) is generally improved, you can choose "Fast".
5. Finish the sprinkle
After the completion, I will do another experiment to see if there is any improvement. I think 2m is the most. The technician said 4m, and said that the edge error is 2%. I think it is nonsense. My equipment is D435 and D435i, which exceeds 1500mm. Jump, if anyone's equipment is really so powerful, please private message me in the background, let me open my eyes!