Is it possible to run on chip self calibration with advanced settings such as disparity shift?

[mattiasbax]

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Required Info
Camera Model	D415
Firmware Version	5.15.1.0
Operating System & Version	Linux
Kernel Version (Linux Only)	6.6.12
Platform	Intel NUC
SDK Version	2.40.0
Language	C++
Segment	Other

Issue Description

Hello,

I want to be able to monitor health and recalibrate our cameras in a production environment. However, I am using the camera to monitor close up objects and thus use disparity shift to see objects in the range of interest.

When I try to run on chip self calibration using the Realsense-Viewer it looks like settings such as disparity shift is being reset. This then leads to the self calibration failing due to not having enough defined depth points (because the "wall" is too close to the camera).

When trying the self calibration programmatically via the SDK I cannot set the disparity shift prior to calling the self calibration. This will lead to errors such as "HW not ready" or similar. If I don't set the disparity shift via the SDK the self calibration will throw exception due to timeout (which I guess is because it's not converging due to the too close "wall" it is looking at).

My question is, should it be possible to use more advanced settings prior to self calibration, or will it always fall back to a certain preset of settings?

Thanks!

[MartyG-RealSense]

Hi @mattiasbax Instead of performing a calibration, you could try resetting the camera's calibration to its factory-new default settings using the instructions at #10182 (comment) to see whether this provides satisfactory results, though it will not provide a health check score.

If you need to monitor objects at close range then the D405 camera model may work better for you. It provides high quality, high accuracy close-range images at an ideal depth sensing range of 7 cm to 50 cm without having to use disparity shift. However, the D405 is not equipped with an IR emitter component and so there may be insufficient light for successful self-calibration unless the light in the production environment is strong.

https://www.intelrealsense.com/depth-camera-d405/

If the wall that you are directing the camera at is white then the white-paper guide for self-calibration informs that the D415 model specifically has difficulty with this kind of wall. It recommends against using D415 for white-wall calibration, but if you need to do so then it suggests selecting the High Accuracy visual preset mode and setting the self-calibration's Speed to the white wall mode.

With these settings, it may be possible to avoid using disparity shift, though the camera will have to be positioned further from the wall so that its distance is above the D415's minimum depth sensing distance.

https://dev.intelrealsense.com/docs/self-calibration-for-depth-cameras

[mattiasbax]

Thank you @MartyG-RealSense for the quick response.

Changing to a different camera model is unfortunately not possible currently.

If i understand you correctly it should be possible to run the self calibration with advanced settings such as disparity shift turned on?

[mattiasbax]

I got self calibration for close up targets to work using disparity shift by updating to the latest SDK version.

You can close this issue, thank you @MartyG-RealSense !

[MartyG-RealSense]

You are very welcome, @mattiasbax - I'm pleased to hear that you achieved a solution regarding disparity shift. Thanks very much for the update. As you suggested, I will close this case. Thanks again!