Intrinsics di Realsense D415

Uno dei vantaggi delle camere Realsense e' che sono gia' calibrate e si possono leggere i valori dei parametri intrinsics senza dover passare tramite la calibrazione con checkerboard

 

 

Width: 640
Height: 480
Focal length (fx, fy): 616.6863403320312 616.5963134765625
Principal point (ppx, ppy): 318.4041748046875 238.97064208984375
Distortion model: distortion.inverse_brown_conrady
Distortion coefficients: [0.0, 0.0, 0.0, 0.0, 0.0]
 

import pyrealsense2 as rs

# Create pipeline and config

pipeline = rs.pipeline()

config = rs.config()

config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)

# Start streaming

profile = pipeline.start(config)

# Get the stream profile and intrinsics

color_stream_profile = profile.get_stream(rs.stream.color)

intr = color_stream_profile.as_video_stream_profile().get_intrinsics()

# Print intrinsics

print("Width:", intr.width)

print("Height:", intr.height)

print("Focal length (fx, fy):", intr.fx, intr.fy)

print("Principal point (ppx, ppy):", intr.ppx, intr.ppy)

print("Distortion model:", intr.model)

print("Distortion coefficients:", intr.coeffs)

pipeline.stop()