RealSense Calibrator - Using the calibration results

The formulas below are explained in more detail here.

The first CSV file, suffixed 'Trinsics' contains the camera's name and serial number, followed by the 7 optimised (and hopefully optimal) parameters:

1. HPixels The number of horizontal pixels in the depthcamera's images. The width.
2. VPixels The number of vertical pixels in the depthcamera's images. The height.
3. HFov The horizontal field of view in radians.
4. VFov The vertical field of view in radians.
5. Inclination The vertical angle of the line from the camera's centre to the middle red circle. Positive = pointing upwards, above the horizon.
6. Deviation The horizontal angle of the line from the camera's centre to the middle red circle. Positive = pointing rightwards.
7. A The 'A' factor in the quadratic Z correction.
8. B The 'B' factor in the quadratic Z correction.
9. C The 'C' factor in the quadratic Z correction. This is the distance of the depthmap's focal point relative to the front glass of the camera. Positive = behind the glass.

    Imports System.Math
    Imports System.Windows.Media.Media3D

    Module RowColRangeToPoint_
        Const Cols As Integer = 848
        Const Rows As Integer = 480
        Const HFov As Double = 1.52723940226235
        Const VFov As Double = 1.00013130431485
        Const A As Double = -0.0000196355121038795
        Const B As Double = -0.0217963791803833
        Const C As Double = 5.91108175482591

        Const VCentre As Double = (Rows - 1) / 2
        Const HCentre As Double = (Cols - 1) / 2
        Const HFov2 As Double = HFov / 2
        Const VFov2 As Double = HFov / 2
        Private ReadOnly Property VSize As Double = Tan(VFov / 2) * 2
        Private ReadOnly Property HSize As Double = Tan(HFov / 2) * 2
        Private ReadOnly Property VPixel As Double = VSize / (Rows - 1)
        Private ReadOnly Property HPixel As Double = HSize / (Cols - 1)

        Public Function RowColRangeToPoint(row As Double, col As Double, range As Double) As Point3D
            Dim vratio As Double = (VCentre - row) * VPixel
            Dim hratio As Double = (col - HCentre) * HPixel
            Dim z As Double = range + A * range * range + B * range + C
            Dim y As Double = range * -vratio
            Dim x As Double = range * hratio
            Return New Point3D(x, y, z)
        End Function
    End Module

    using System;
    using System.Math;
    using System.Windows.Media.Media3D;

    static class RowColRangeToPoint_  {
        const static int Cols = 848;
        const static int Rows = 480;
        const static double HFov = 1.52723940226235;
        const static double VFov = 1.00013130431485;
        const static double VCentre = (Rows - 1) / (double)2;
        const static double HCentre = (Cols - 1) / (double)2;
        const static double A = -0.0000196355121038795;
        const static double B = -0.0217963791803833;
        const static double C = 5.91108175482591;

        const static double HFov2 = HFov / 2;
        const static double VFov2 = HFov / 2;
        private static double VSize { get; } = Math.Tan(VFov / 2) * 2;
        private static double HSize { get; } = Math.Tan(HFov / 2) * 2;
        private static double VPixel { get; } = VSize / (Rows - 1);
        private static double HPixel { get; } = HSize / (Cols - 1);

        public static Point3D RowColRangeToPoint(double row, double col, double range) {
            double vratio = (VCentre - row) * VPixel;
            double hratio = (col - HCentre) * HPixel;
            double z = range + A * range * range + B * range + C;
            double y = range * -vratio;
            double x = range * hratio;
            return new Point3D(x, y, z);
        }
    }

The second CSV file, suffixed Planes, contains the averaged input data to the optimisation. The fields should be self-explanatory; 'sigma' is the Standard Deviation. You can use this data to create your own graphs.

The XML file contains the serialised data structures, which allows you to re-load a set of measurements and continue working with them.

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