RealSense D435 Distortion Model

Hi,

I am wondering what distortion model the Intel RealSense D435 is? I can't find information about it, other than general models used by the depth cameras listed (but not specified to each camera model). These are found in the following two links:

https://dev.intelrealsense.com/docs/projection-in-intel-realsense-sdk-20#point-cloud
https://dev.intelrealsense.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras

I have extracted the intrinsic parameters from my camera. I used CustomRW for resetting to factory gold settings, and extracting the parameters, which are:

FocalLengthColor: 1379.333496, 1378.66125
PrincipalPointColor: 973.144470, 535.20050
distortionCoefficients = [ 0.0 0.0 0.0 0.0 0.0 ]

Given the fact that the distortion coefficients are set to 0, I want to set up the assumption that we can use the Idealized Pinhole Model, but I want clarification on this before saying so, as it is for my bachelor thesis (where I want the information to be correct). Furthermore, if the idealized model is acceptable, how may I argue for it being so? Is it due to the factory calibration, or because of physical properties?

Help would be greatly appreciated.

Best regards,
Thomas.

MartyG

February 12, 2024 11:12
Edited

Hi Thomal2002 You can list the intrinsics for a specific RealSense camera (including the distortion model used by each stream type) using the calibration information mode of the RealSense SDK's rs-enumerate-devices tool. It can be launched in calibration information mode with the command below:

rs-enumerate-devices -c

I do not have advice that I can offer about the Idealized Pinhole Model, unfortunately.

Thomal2002

February 12, 2024 20:31

Wonderful, I have set up the SDK and used the command you suggested, which gave me the models I was after. Thank you! :)

RealSense D435 Distortion Model

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