How to get intrinsic and extrinsic parameter of two ir images

[Daa98]

Hello, I want to know how to get the intrinsic, extrinsic and distortion parameters of the two ir camera images output by Y8 format.

In SDK, "calibration data" give me some parameters but these format isn't like common format that can be used in opencv (https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html#ga9d2539c1ebcda647487a616bdf0fc716).

Aactually, My final aim is to achieve the transform between depth and disparity.

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Required Info
Camera Model	D405
Firmware Version	(latest)
Operating System & Version	{Win10)
SDK Version	latest
Language	python

[MartyG-RealSense]

Hi @Daa98 The RealSense SDK's rs-enumerate-devices tool can provide the intrinsic, extrinsic and distortion parameters of a particular camera (each camera has a unique set of calibration values). On Windows, rs-enumerate-devices can be run from the Command Prompt interface. You can do so by following the steps below.

1. Install the full RealSense SDK with the Intel.RealSense.SDK-WIN10 installer program if you have not done so already.

2. Navigate to the SDK's Tools directory by inputting this command into the Command Prompt window:

cd C:\Program Files (x86)\Intel RealSense SDK 2.0\tools

3. Input the command to run rs-enumerate-devices in its -c (Calibration) mode.

rs-enumerate-devices -c

The full intrinsics and extrinsics of the camera will be listed in the Command Prompt window. You can then use the scrollbar at the side of the window to scroll up from the bottom of the listing to find the information that you require.

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If you would prefer to use Python code then you can retrieve intrinsics with the SDK instruction get_intrinsics() like in #3986 and extrinsics with get_extrinsics_to() like in #10180 (comment)

[MartyG-RealSense]

Hi @Daa98 Do you require further assistance with this case, please? Thanks!