IR Matrix projector clipping distance uniformity (Intel Realsense d435i)
I would like to know how to have a whole frame uniform clipping distance using IR matrix projector so I can set a threshold distance at the frame for any object rebasing that distance. As I show in the next picture, distance from camera IR matrix projector won't be the same at any pixel position. Is this considered when getting distance from sensor?
Typically I see distance from center pixel point, for example:
distance = depth.get_distance(width/2, height/2)
Can you help me clarifying this point? Should I have to calculate a distance for any pixel?
Hi Fpelegri The dot pattern cast by the projector is semi-random, and how visible the dots are to the camera will also depend on environmental conditions such as lighting and the type of material that the surface that is being depth-sensed is made from.
The dot pattern acts as a 'texture source' to aid the camera in analyzing surfaces for depth detail. The RealSense 400 Series cameras can though alternatively use ambient light in a well-illuminated scene to assist depth analysis instead of using the dot pattern. So the projector is an aid to depth analysis but not a part of how depth values are calculated.
Thanks for the feedback!
My application have to get the shape of the objects on a flat surface, is there an appropriate way to do it using python (pyrealsense2),using STEREO Module of Intel RealSense D435i?
The ideal distance threshold is the surface, is there a way to calibrate the Intel realSense D435i camera using python code?
Thanks in advance! (again)
You can activate the RealSense SDK's On-Chip Calibration using Python code instead of accessing it through the RealSense Viewer by using the scripting at the link below.
The SDK has a complete Python calibration example script for the On-Chip functions here:
If you need to capture the 3D shape of an object then an appropriate method may be to generate a pointcloud and export it to a .ply pointcloud data file. An example program for doing so is here:
A RealSense .ply file can then be imported into 3D modelling software for performing further work on it, such as converting the pointcloud to a solid-mesh .obj file. A free open-source tool that can do this with RealSense .ply files is MeshLab.
Please sign in to leave a comment.