I’m developing my custom calibration application using python and pyrealsense2 and I would like to initialize the intrinsic parameters using the factory calibration of the device.
But I have not found a direct way to obtain the current intrinsic parameters of the camera of the left and right cameras.
The ones by the IR stream with the format Y8 are rectified and the distortion coefficients are set to 0.
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.infrared,1 ,1920, 1080, rs.format.y8,15)
config.enable_stream(rs.stream.infrared,2 ,1920, 1080, rs.format.y8,15)
cfg = pipeline.start(config)
profile = cfg.get_stream(rs.stream.infrared,1) # Fetch stream profile for depth stream
intr = profile.as_video_stream_profile().get_intrinsics()
if I use the Y16 format does not return any parameters at all.
So far the only working option I have found is to call the CustomRW application using the following command Intel.Realsense.CustomRW.exe -r. But I’m sure there is a more straightforward way using the real sense API.
Is there a way to obtain the factory intrinsic parameters of the device using the RealSense API?
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