What is the difference between the RealSense calibration tools?

ISSUE:

Do I need to calibrate Intel RealSense D400 Series modules? If so, how?

RESOLUTION:

All of the calibration tools that Intel offers calibrate the extrinsics and bring the camera back to Intel's spec of 2% error at 2 meters. Each tool may calculate the extrinsics differently but this difference is minuscule and is not noticeable for 99% of applications. The important thing is that every tool brings the camera back to spec. Intel does not report or measure the accuracy differences between the tools. There are other factors that you should take into account when choosing a tool:

1. Dynamic Calibration - free to download by anyone. Easy to use.
2. On-Chip Calibration - BETA feature. No extra software is necessary as it is built into RealSense Viewer. Easy to use.
3. OEM Calibration - must purchase the $1500 Calibration Target before Intel provides the software. Used by high-volume OEM customers that will calibrate a large volume of modules or cameras in a factory setting. Requires manual manipulation of the camera to set it in different positions. Requires NDA with Intel. This is the most expensive and resource-intensive route.