D455 color camera distortion model

[zc08]

Required Info
Camera Model	D455
Firmware Version	05.12.06.00
Operating System & Version	Ubuntu 18.04.3
Kernel Version (Linux Only)	5.4.0-48-generic
Platform	PC
SDK Version	2.36.0
Language	C/python
Segment	Robot

Issue Description

The distortion part of the color stream of my Intel D455 is:
Distortion : Inverse Brown Conrady
Distortion coeffs : -0.0565362684428692 0.068201869726181 0.0003659751964733 0.000692575704306364 -0.0218431670218706

However, in issue #7335 some users have pointed out that it seems Brown Conrady is the real model used. In that issue, the problem has been fixed for L515, but what about D455 ?

Should I use Inverse Brown Conrady for D455, or Brown model ? Thanks in advance!

[MartyG-RealSense]

Hi @zc08 Whilst I do not have a definitive answer for this question at present, I can point you towards further reading regarding the discussion of what distortion model the D455 camera model's color stream uses.

#7734

rs-enumerate-devices -c currently reports the Inverse Brown-Conrady model for the color profiles of both my D435i and D455 cameras.

D435i

D455

[MartyG-RealSense]

Hi @zc08 Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.