I was trying to get this to work with the Intel Realsense for awhile.
I couldn’t get any reliable results. I consider two things may be an issue.
It may be that the camera FOV is different for the Kinect vs Realsense so I tried the different OpenCV toggles to guess focal length and aspect, didn’t help.
The next guess was that the realsense rgb camera doesn’t have the same FOV as the 3d depth image. I would guess if the point pairs are compared, it would be sampling an incorrect position.
I tried the “depth aligned to color” settings, but it seems like the pointcloud top doesn’t have this option. The “color aglined to depth” doesn’t find any checkerboards.
Any more suggestions about what to try to get the realsense to calibrate?
I was also guessing that the depth data would have different values considering the realsense can be used closer proximity. But that shouldn’t matter the calibration shouldn’t need actual distances, should it?
Sometimes It appeared that the depth data was not discovered on the white board I was holding. Would that record 3d position of -1 or discard the point pair?