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D435i No PointCloud2 and No Image in rviz #595

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arthurlobo opened this issue Feb 1, 2019 · 22 comments
Closed

D435i No PointCloud2 and No Image in rviz #595

arthurlobo opened this issue Feb 1, 2019 · 22 comments
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wait_to_close wait to see if problem is solved.

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@arthurlobo
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Hi:

My environment is:

RealSense ROS 2.1.4
Librealsense 2.18
D435i firmware 5.11.1
Platform Jetson TX2
OS Ubuntu 16.04

I am not getting a point cloud or image in rviz but realsense-viewer works fine.
Command in terminal 1: roslaunch realsense2_camera rs_rgbd.launch
Command in terminal 2: rviz

Does anyone have any suggestions?

Thanks
Art

SUMMARY

PARAMETERS

  • /camera/realsense2_camera/accel_fps: 250
  • /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
  • /camera/realsense2_camera/align_depth: True
  • /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
  • /camera/realsense2_camera/base_frame_id: camera_link
  • /camera/realsense2_camera/clip_distance: -1.0
  • /camera/realsense2_camera/color_fps: 30
  • /camera/realsense2_camera/color_frame_id: camera_color_frame
  • /camera/realsense2_camera/color_height: 480
  • /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
  • /camera/realsense2_camera/color_width: 640
  • /camera/realsense2_camera/depth_fps: 30
  • /camera/realsense2_camera/depth_frame_id: camera_depth_frame
  • /camera/realsense2_camera/depth_height: 480
  • /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
  • /camera/realsense2_camera/depth_width: 640
  • /camera/realsense2_camera/enable_color: True
  • /camera/realsense2_camera/enable_depth: True
  • /camera/realsense2_camera/enable_fisheye: True
  • /camera/realsense2_camera/enable_imu: True
  • /camera/realsense2_camera/enable_infra1: True
  • /camera/realsense2_camera/enable_infra2: True
  • /camera/realsense2_camera/enable_pointcloud: False
  • /camera/realsense2_camera/enable_sync: True
  • /camera/realsense2_camera/filters:
  • /camera/realsense2_camera/fisheye_fps: 30
  • /camera/realsense2_camera/fisheye_height: 480
  • /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
  • /camera/realsense2_camera/fisheye_width: 640
  • /camera/realsense2_camera/gyro_fps: 400
  • /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
  • /camera/realsense2_camera/infra1_fps: 30
  • /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
  • /camera/realsense2_camera/infra1_height: 480
  • /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
  • /camera/realsense2_camera/infra1_width: 640
  • /camera/realsense2_camera/infra2_fps: 30
  • /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
  • /camera/realsense2_camera/infra2_height: 480
  • /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
  • /camera/realsense2_camera/infra2_width: 640
  • /camera/realsense2_camera/initial_reset: False
  • /camera/realsense2_camera/json_file_path:
  • /camera/realsense2_camera/linear_accel_cov: 0.01
  • /camera/realsense2_camera/pointcloud_texture_index: 0
  • /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
  • /camera/realsense2_camera/rosbag_filename:
  • /camera/realsense2_camera/serial_no:
  • /camera/realsense2_camera/unite_imu_method: none
  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES
/camera/
color_rectify_color (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [5636]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to cccfe712-25d6-11e9-a4c0-00044b8cacff
process[rosout-1]: started with pid [5649]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [5666]
process[camera/realsense2_camera-3]: started with pid [5667]
process[camera/color_rectify_color-4]: started with pid [5668]
process[camera/points_xyzrgb_hw_registered-5]: started with pid [5669]
[ INFO] [1548994012.497521342]: Initializing nodelet with 6 worker threads.
[ INFO] [1548994012.571744371]: RealSense ROS v2.1.4
[ INFO] [1548994012.571825300]: Running with LibRealSense v2.18.0
01/02 04:06:52,932 WARNING [547498426368] (types.cpp:57) hwmon command 0x4f failed. Error type: No data to return (-21).
[ INFO] [1548994012.978171440]: getParameters...
[ INFO] [1548994013.660937751]: setupDevice...
[ INFO] [1548994013.662004319]: JSON file is not provided
[ INFO] [1548994013.662411489]: ROS Node Namespace: camera
[ INFO] [1548994013.663289671]: Device Name: Intel RealSense D435I
[ INFO] [1548994013.663597257]: Device Serial No: 838212070478
[ INFO] [1548994013.663822283]: Device FW version: 05.11.01.00
255.255.255.255
[ INFO] [1548994013.664086125]: Device Product ID: 0x0B3A
[ INFO] [1548994013.664902098]: Enable PointCloud: Off
[ INFO] [1548994013.665148820]: Align Depth: On
[ INFO] [1548994013.665356757]: Sync Mode: On
[ INFO] [1548994013.665875961]: Device Sensors:
[ INFO] [1548994013.666223803]: Stereo Module was found.
[ INFO] [1548994013.666434268]: RGB Camera was found.
[ INFO] [1548994013.666642334]: Motion Module was found.
[ INFO] [1548994013.667101761]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1548994013.668145160]: setupPublishers...
[ INFO] [1548994013.713467674]: Expected frequency for depth = 30.00000
[ INFO] [1548994013.754716369]: Expected frequency for infra1 = 30.00000
[ INFO] [1548994013.777837582]: Expected frequency for aligned_depth_to_infra1 = 30.00000
[ INFO] [1548994013.806267182]: Expected frequency for infra2 = 30.00000
[ INFO] [1548994013.836688219]: Expected frequency for aligned_depth_to_infra2 = 30.00000
[ INFO] [1548994013.870461952]: Expected frequency for color = 30.00000
[ INFO] [1548994013.904759304]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1548994014.017395553]: setupStreams...
01/02 04:06:54,021 WARNING [547498426368] (sensor.cpp:338) Unregistered Media formats : [ UYVY ]; Supported: [ ]
[ INFO] [1548994014.032656168]: depth stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1548994014.034611285]: infra1 stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1548994014.036477954]: infra2 stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1548994014.054861726]: color stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1548994014.085546222]: starting imu...
[ INFO] [1548994014.090687633]: gyro stream is enabled - fps: 400
[ INFO] [1548994014.091510934]: accel stream is enabled - fps: 250
[ INFO] [1548994014.092948288]: num_filters: 0
[ INFO] [1548994014.094070343]: RealSense Node Is Up!
[ INFO] [1548994014.094196424]: Setting Dynamic reconfig parameters.
[ INFO] [1548994014.256143247]: Done Setting Dynamic reconfig parameters.
@kvigulis
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kvigulis commented Feb 6, 2019 •
edited
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Having exactly the same console output with the same device/setup, except the firmware is: 05.10.13.00 and I'm testing on laptop. Also not getting anything in RViz, although I'm not sure if there is something that needs to be done from within RViz to access the output.

@arthurlobo
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not sure if there is something that needs to be done from within RViz to access the output

I followed the steps by icarpis in the following issue for my above post:
#302

@arthurlobo
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I also did the following in rviz before the above:
Under "Global Options" select "camera_link" from "Fixed Frame" drop down menu

@kvigulis
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kvigulis commented Feb 7, 2019

Thanks for the instructions Arthur. I added the PointCloud2 topic, but it has an error in Transform, when selecting the "camera_link" in "Global Options".

rviz_screen1

Selecting "camera_color_optical_frame", gets rid of the Transform error and it shows that it is receiving messages, but still there's no visualisation of pointcloud/anything..

rviz_screen2

@kvigulis
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kvigulis commented Feb 7, 2019

Are you still getting this warning and it can simply be ignored?

01/02 04:06:52,932 WARNING [547498426368] (types.cpp:57) hwmon command 0x4f failed. Error type: No data to return (-21).

@arthurlobo
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I followed the following video link originally (rviz starts at 4:09):
https://www.jetsonhacks.com/2018/04/28/intel-realsense-package-ros-nvidia-jetson-tx/

About the warning I still get it.

@kvigulis
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kvigulis commented Feb 7, 2019 •
edited
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Thanks @arthurlobo. Seems like I have some other issue then. I can access the depth and RGB image streams from RViz, but can't get anything to show up for the PointCloud2.

Maybe it is something with my RViz. I'm getting the following console output at RViz launch time:

[ INFO] [1549502444.282820852]: rviz version 1.12.16
[ INFO] [1549502444.282897777]: compiled against Qt version 5.5.1
[ INFO] [1549502444.282914509]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1549502445.055716882]: Stereo is NOT SUPPORTED
[ INFO] [1549502445.055820577]: OpenGl version: 4.5 (GLSL 4.5).
[ERROR] [1549502445.290600727]: Ignoring transform for child_frame_id "camera_color_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 -0.500000 0.000000 0.000000)
[ERROR] [1549502445.290687420]: Ignoring transform for child_frame_id "camera_aligned_depth_to_color_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 -0.500000 0.000000 0.000000)

@Mango-kid
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I am also having the exact same output. I have tried this on two different machines with both Kinetic and Melodic (although I don't think that matters). The device works fine in the realsense-viewer but does not work in ROS. Some of the camera images can be seen (no color). Also tested with latest build and debian packages.

Echoing any of the point cloud topics outside of rviz returns nothing at all.

When this device was first released I had no issues with the point cloud and color camera. The realsense will not let me downgrade the firmware so I cannot test the old setup. Intel also has some notes on the USB device with comments like "unplug it and plug it back in quickly", I'm not sure what to make of that.

Also not able to see a point cloud with the D200.

Any thoughts?

@arthurlobo
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The issue was solved by purging ros-kinetic and reinstalling ros-kinetic and RealSense ROS 2.1.4.

@Mango-kid
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Mango-kid commented Feb 14, 2019 via email

@doronhi
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doronhi commented Feb 14, 2019

@kvigulis, about the transformations, what does tf_echo shows regarding camera_color_frame and camera_infra1_frame? What does rs-enumerate-device?
Using RealSense-viewer, make sure the device is connected via usb3 and not usb2.

@Mango-kid
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See the output below. I am using the included cabling. I am interested in the recommend firmware section. Once I upgraded the firmware it wouldn't let me go back to the previous version.

Device info: Name : Intel RealSense D410 Serial Number : 739112060258 Firmware Version : 05.11.01.00 Recommended Firmware Version : 05.10.03.00 Physical Port : /sys/devices/pci0000:00/0000:00:14.0/usb1/1-4/1-4:1.0/video4linux/video0 Debug Op Code : 15 Advanced Mode : YES Product Id : 0AD2 Usb Type Descriptor : 2.1
Looking at the color_frame tf. The result is the same for the infra as well.

Failure at 1550179621.007469937 Exception thrown:"camera_color_frame" passed to lookupTransform argument target_frame does not exist. The current list of frames is: Frame camera_depth_frame exists with parent camera_link. Frame camera_depth_optical_frame exists with parent camera_depth_frame. Frame camera_infra1_frame exists with parent camera_link. Frame camera_infra1_optical_frame exists with parent camera_aligned_depth_to_infra1_frame. Frame camera_aligned_depth_to_infra1_frame exists with parent camera_link.

@doronhi
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doronhi commented Feb 18, 2019

I'm sorry, @Mango-kid, as I understand it, the current situation is:
realsense-viewer works fine. You can see infra red images 1,2, color frame and depth image.
With ROS, you can see each of the image streams on rviz but not the pointcloud.
when you use rosrun tf view_frames you don't see camera_color_frame. Can you post the frames.pdf file that was created?
or you do see camera_color_frame but rosrun tf tf_echo camera_color_frame camera_link failes?

It's known to happen that during firmware upgrade something went wrong with the extrinsics. Could you post the output of the command: rs-enumerate-devices -c (text please if possible) - it shows the extrinsics set in the camera.

@Mango-kid
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Okay. I managed to get the firmware back to 5.10.06. Now the camera is working fine. It will not work with the 5.11.01 firmware.

@RealSenseCustomerSupport
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[Please Ignore - RealSense system comment]

@mzahana
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mzahana commented Mar 18, 2019

@Mango-kid I am facing the same problem. I downgraded to 5.10.6 but now the D435i is not found

[ WARN] [1552893277.060069371]: No RealSense devices were found!

Do I also have to downgrade Realsense2 package and librealsense?

@mzahana
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mzahana commented Mar 18, 2019

@doronhi I have D435 and D435i, both with firmware 5.10.13. I am now using librealsense 2.19.0. I am able to visualize the pointcloud when I use D435, but not with D435i. I am suspecting that the extrinsic parameters of D435i got corrupted somehow during FW changes. I don't know how to fix that.

Any suggestions?

@zeeshan-ahmed-ml
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@doronhi I have D435 and D435i, both with firmware 5.10.13. I am now using librealsense 2.19.0. I am able to visualize the pointcloud when I use D435, but not with D435i. I am suspecting that the extrinsic parameters of D435i got corrupted somehow during FW changes. I don't know how to fix that.

Any suggestions?

Same problem with 5.10.13 and 5.11.1

@mzahana
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mzahana commented Mar 25, 2019 •
edited
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Problem is solved using,

Intel.Realsense.CustomRW.exe -g

https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/RealSense_D400_Dyn_Calib_User_Guide.pdf

@doronhi doronhi added the wait_to_close wait to see if problem is solved. label Mar 26, 2019
@zeeshan-ahmed-ml
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Problem is solved using,

Intel.Realsense.CustomRW.exe -g

https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/RealSense_D400_Dyn_Calib_User_Guide.pdf

This worked for me. Thank you.

@doronhi doronhi closed this as completed Apr 1, 2019
@ruiqun
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ruiqun commented May 5, 2019 •
edited
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My environment is :
RealSense ROS v2.2.3
LibRealSense v2.21.0
D435i firmware 5.11.6
OS Ubuntu 18.04
ROS melodic

@dorodnic I got the same issue as below :
[ERROR] [1557038813.747173116]: Ignoring transform for child_frame_id "camera_color_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 -0.500000 0.000000 0.000000)
[ERROR] [1557038813.747221015]: Ignoring transform for child_frame_id "camera_aligned_depth_to_color_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 -0.500000 0.000000 0.000000)

When viewing with rviz, there is no color image received, and certainly no point cloud received.
I've tried with reset hardware when initialized, but still not working.
Is there any way to solved this problem but not by downgrade the firmware?
Thanks!

@rezanatha rezanatha mentioned this issue Feb 12, 2020
Closed
@FPSychotic
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FPSychotic commented Jun 22, 2020 •
edited
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My environment is :
RealSense ROS v2.2.3
LibRealSense v2.21.0
D435i firmware 5.11.6
OS Ubuntu 18.04
ROS melodic

@dorodnic I got the same issue as below :
[ERROR] [1557038813.747173116]: Ignoring transform for child_frame_id "camera_color_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 -0.500000 0.000000 0.000000)
[ERROR] [1557038813.747221015]: Ignoring transform for child_frame_id "camera_aligned_depth_to_color_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 -0.500000 0.000000 0.000000)

When viewing with rviz, there is no color image received, and certainly no point cloud received.
I've tried with reset hardware when initialized, but still not working.
Is there any way to solved this problem but not by downgrade the firmware?
Thanks!

@ruiqun Could you fix this?
@dorodnic
I have the exact same error, my d435 has a new remplacement D4 module, and it stream color but it doesn't make pointcloud with color, in both realsense-viewer or ROS wrapper. I flashe last firmware, calibrated with in a wall intrinsic and extrinsic on the realsense-viewer option , I tried flash a old firm but I couldn't maybe I do something wrong
In ROS send me this error [ERROR] [1592827024.440253337]: Ignoring transform for child_frame_id "camera_color_frame" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 -0.500000 0.000000 0.000000)

rs-enumerate-devices -c
Fx: 217.160980224609
Fy: 217.160980224609
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.85

Intrinsic of "Depth" / 480x270 / {Z16}
Width: 480
Height: 270
PPX: 239.203430175781
PPY: 132.693588256836
Fx: 245.842620849609
Fy: 245.842620849609
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.54

Intrinsic of "Depth" / 640x360 / {Z16}
Width: 640
Height: 360
PPX: 318.937896728516
PPY: 176.924789428711
Fx: 327.790161132812
Fy: 327.790161132812
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.54

Intrinsic of "Depth" / 640x480 / {Z16}
Width: 640
Height: 480
PPX: 318.725463867188
PPY: 236.309753417969
Fx: 393.348205566406
Fy: 393.348205566406
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 78.26 x 62.78

Intrinsic of "Depth" / 848x100 / {Z16}
Width: 848
Height: 100
PPX: 422.592712402344
PPY: 45.9253387451172
Fx: 434.321960449219
Fy: 434.321960449219
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 13.13

Intrinsic of "Depth" / 848x480 / {Z16}
Width: 848
Height: 480
PPX: 422.592712402344
PPY: 235.925338745117
Fx: 434.321960449219
Fy: 434.321960449219
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.85

Intrinsic of "Depth" / 1280x720 / {Z16}
Width: 1280
Height: 720
PPX: 637.875793457031
PPY: 353.849578857422
Fx: 655.580322265625
Fy: 655.580322265625
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.54

Intrinsic of "Color" / 320x180 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
Width: 320
Height: 180
PPX: 157.844299316406
PPY: 89.1665802001953
Fx: 229.652008056641
Fy: 228.993255615234
Distortion: Inverse Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 69.73 x 42.91

Intrinsic of "Color" / 320x240 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
Width: 320
Height: 240
PPX: 157.125732421875
PPY: 118.888778686523
Fx: 306.202667236328
Fy: 305.324340820312
Distortion: Inverse Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 55.17 x 42.91

Intrinsic of "Color" / 424x240 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
Width: 424
Height: 240
PPX: 209.125732421875
PPY: 118.888778686523
Fx: 306.202667236328
Fy: 305.324340820312
Distortion: Inverse Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 69.39 x 42.91

Intrinsic of "Color" / 640x360 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
Width: 640
Height: 360
PPX: 315.688598632812
PPY: 178.333160400391
Fx: 459.304016113281
Fy: 457.986511230469
Distortion: Inverse Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 69.73 x 42.91

Intrinsic of "Color" / 640x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
Width: 640
Height: 480
PPX: 314.25146484375
PPY: 237.777557373047
Fx: 612.405334472656
Fy: 610.648681640625
Distortion: Inverse Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 55.17 x 42.91

Intrinsic of "Color" / 848x480 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
Width: 848
Height: 480
PPX: 418.25146484375
PPY: 237.777557373047
Fx: 612.405334472656
Fy: 610.648681640625
Distortion: Inverse Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 69.39 x 42.91

Intrinsic of "Color" / 960x540 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
Width: 960
Height: 540
PPX: 473.532928466797
PPY: 267.499755859375
Fx: 688.955993652344
Fy: 686.979736328125
Distortion: Inverse Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 69.73 x 42.91

Intrinsic of "Color" / 1280x720 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
Width: 1280
Height: 720
PPX: 631.377197265625
PPY: 356.666320800781
Fx: 918.608032226562
Fy: 915.973022460938
Distortion: Inverse Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 69.73 x 42.91

Intrinsic of "Color" / 1920x1080 / {YUYV/RGB8/BGR8/RGBA8/BGRA8/Y16}
Width: 1920
Height: 1080
PPX: 947.065856933594
PPY: 534.99951171875
Fx: 1377.91198730469
Fy: 1373.95947265625
Distortion: Inverse Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 69.73 x 42.91

Intrinsic of "Infrared 1" / 256x144 / {Y8}
Width: 256
Height: 144
PPX: 125.875793457031
PPY: 65.8495788574219
Fx: 655.580322265625
Fy: 655.580322265625
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 22.1 x 12.53

Intrinsic of "Infrared 1" / 424x240 / {Y8}
Width: 424
Height: 240
PPX: 211.296356201172
PPY: 117.962669372559
Fx: 217.160980224609
Fy: 217.160980224609
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.85

Intrinsic of "Infrared 1" / 480x270 / {Y8}
Width: 480
Height: 270
PPX: 239.203430175781
PPY: 132.693588256836
Fx: 245.842620849609
Fy: 245.842620849609
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.54

Intrinsic of "Infrared 1" / 640x360 / {Y8}
Width: 640
Height: 360
PPX: 318.937896728516
PPY: 176.924789428711
Fx: 327.790161132812
Fy: 327.790161132812
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.54

Intrinsic of "Infrared 1" / 640x480 / {Y8}
Width: 640
Height: 480
PPX: 318.725463867188
PPY: 236.309753417969
Fx: 393.348205566406
Fy: 393.348205566406
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 78.26 x 62.78

Intrinsic of "Infrared 1" / 848x100 / {Y8}
Width: 848
Height: 100
PPX: 422.592712402344
PPY: 45.9253387451172
Fx: 434.321960449219
Fy: 434.321960449219
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 13.13

Intrinsic of "Infrared 1" / 848x480 / {Y8}
Width: 848
Height: 480
PPX: 422.592712402344
PPY: 235.925338745117
Fx: 434.321960449219
Fy: 434.321960449219
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.85

Intrinsic of "Infrared 1" / 1280x720 / {Y8}
Width: 1280
Height: 720
PPX: 637.875793457031
PPY: 353.849578857422
Fx: 655.580322265625
Fy: 655.580322265625
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.54

Intrinsic of "Infrared 1" / 1280x800 / {Y8}
Width: 1280
Height: 800
PPX: 637.875793457031
PPY: 393.844177246094
Fx: 655.580322265625
Fy: 655.580322265625
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 62.78

Intrinsic of "Infrared 2" / 256x144 / {Y8}
Width: 256
Height: 144
PPX: 125.875793457031
PPY: 65.8495788574219
Fx: 655.580322265625
Fy: 655.580322265625
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 22.1 x 12.53

Intrinsic of "Infrared 2" / 424x240 / {Y8}
Width: 424
Height: 240
PPX: 211.296356201172
PPY: 117.962669372559
Fx: 217.160980224609
Fy: 217.160980224609
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.85

Intrinsic of "Infrared 2" / 480x270 / {Y8}
Width: 480
Height: 270
PPX: 239.203430175781
PPY: 132.693588256836
Fx: 245.842620849609
Fy: 245.842620849609
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.54

Intrinsic of "Infrared 2" / 640x360 / {Y8}
Width: 640
Height: 360
PPX: 318.937896728516
PPY: 176.924789428711
Fx: 327.790161132812
Fy: 327.790161132812
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.54

Intrinsic of "Infrared 2" / 640x480 / {Y8}
Width: 640
Height: 480
PPX: 318.725463867188
PPY: 236.309753417969
Fx: 393.348205566406
Fy: 393.348205566406
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 78.26 x 62.78

Intrinsic of "Infrared 2" / 848x100 / {Y8}
Width: 848
Height: 100
PPX: 422.592712402344
PPY: 45.9253387451172
Fx: 434.321960449219
Fy: 434.321960449219
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 13.13

Intrinsic of "Infrared 2" / 848x480 / {Y8}
Width: 848
Height: 480
PPX: 422.592712402344
PPY: 235.925338745117
Fx: 434.321960449219
Fy: 434.321960449219
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.85

Intrinsic of "Infrared 2" / 1280x720 / {Y8}
Width: 1280
Height: 720
PPX: 637.875793457031
PPY: 353.849578857422
Fx: 655.580322265625
Fy: 655.580322265625
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 57.54

Intrinsic of "Infrared 2" / 1280x800 / {Y8}
Width: 1280
Height: 800
PPX: 637.875793457031
PPY: 393.844177246094
Fx: 655.580322265625
Fy: 655.580322265625
Distortion: Brown Conrady
Coeffs: 0 0 0 0 0
FOV (deg): 88.62 x 62.78

Extrinsic Parameters:
Extrinsic from "Depth" To "Depth" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1

Translation Vector: 0 0 0

Extrinsic from "Depth" To "Color" :
Rotation Matrix:
0 0 0
0 0 0
0 0 0

Translation Vector: 0 0 0

Extrinsic from "Depth" To "Infrared 1" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1

Translation Vector: 0 0 0

Extrinsic from "Depth" To "Infrared 2" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1

Translation Vector: -0.0500477217137814 0 0

Extrinsic from "Color" To "Depth" :
Rotation Matrix:
0 0 0
0 0 0
0 0 0

Translation Vector: 0 0 0

Extrinsic from "Color" To "Color" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1

Translation Vector: 0 0 0

Extrinsic from "Color" To "Infrared 1" :
Rotation Matrix:
0 0 0
0 0 0
0 0 0

Translation Vector: 0 0 0

Extrinsic from "Color" To "Infrared 2" :
Rotation Matrix:
0 0 0
0 0 0
0 0 0

Translation Vector: -0.0500477217137814 0 0

Extrinsic from "Infrared 1" To "Depth" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1

Translation Vector: 0 0 0

Extrinsic from "Infrared 1" To "Color" :
Rotation Matrix:
0 0 0
0 0 0
0 0 0

Translation Vector: 0 0 0

Extrinsic from "Infrared 1" To "Infrared 1" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1

Translation Vector: 0 0 0

Extrinsic from "Infrared 1" To "Infrared 2" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1

Translation Vector: -0.0500477217137814 0 0

Extrinsic from "Infrared 2" To "Depth" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1

Translation Vector: 0.0500477217137814 0 0

Extrinsic from "Infrared 2" To "Color" :
Rotation Matrix:
0 0 0
0 0 0
0 0 0

Translation Vector: 0 0 0

Extrinsic from "Infrared 2" To "Infrared 1" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1

Translation Vector: 0.0500477217137814 0 0

Extrinsic from "Infrared 2" To "Infrared 2" :
Rotation Matrix:
1 0 0
0 1 0
0 0 1

Translation Vector: 0 0 0

@MartyG-RealSense MartyG-RealSense mentioned this issue Jul 24, 2020
Closed
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@Mango-kid @mzahana @arthurlobo @kvigulis @ruiqun @FPSychotic @doronhi @zeeshan-ahmed-ml @RealSenseCustomerSupport