How to write custom calibration parameters to intel Realsense D435 camera

Question

I'm working with Intelrealsense D435 and what I plan to do is to overlay an image on top of the point cloud using the opencv_pointcloud_viewer.py example in the python wrapper.

First of all, I've done calibration using checkerboard and clearly there's a difference between the values of intrinsic parameters using the calibration process and the default found using depth_profile.get_intrinsics() function. I was wondering if there's a way to change the values of intrinsic parameters corresponding to the depth_frame in my python code. I mean I want to replace the default intrinsic values with the values I found myself so that next time I use depth_profile.get_intrinsics(), I can get the same values as the ones found during the checkerboard calibration.

Thanks for your help in advance.

I have seen https://community.intel.com/t5/Items-with-no-label/How-to-save-load-intrinsics-to-from-file-python/td-p/435336 but that doesn't seem to solve my problem.

Answer 1

I found intel realsense dynamic calibrator tool that could be used for this purpose. It's possible to define the custom XML file including the intrinsic parameters for all sensors and write them to the device.