1 2 Previous Next 27 Replies Latest reply on Aug 14, 2017 11:18 AM by Intel Corporation

    ZR300 fisheye intrinsics

    Sambuddha_Saha

      I am running Intel Realsense ZR300 in Ubuntu 16.04.WHen I'm running cpp-enumerate devices exampple code, fisheye intrinsics can't be detected.

       

      Device 0 - Intel RealSense ZR300:

      Serial number: 4031803394

      Firmware version: 2.0.71.28

      USB Port ID: 2-2-2

      Adapter Board Firmware version: 1.29.0.0

      Motion Module Firmware version: 1.25.0.0

      Camera info:

          DEVICE_NAME         :     Intel RealSense ZR300

          DEVICE_SERIAL_NUMBER:     4031803394

          CAMERA_FIRMWARE_VERSION:     2.0.71.28

          ADAPTER_BOARD_FIRMWARE_VERSION:     1.29.0.0

          MOTION_MODULE_FIRMWARE_VERSION:     1.25.0.0

          CAMERA_TYPE         :     PRQ-Ready

          OEM_ID              :     OEM None

          ISP_FW_VERSION      :     0xd942

          CONTENT_VERSION     :     12

          MODULE_VERSION      :     4.4.0.111

          IMAGER_MODEL_NUMBER :     33

          CALIBRATION_DATE    :     2014-07-04 08:18:35 UTC

          EMITTER_TYPE        :     Laser Driver 4.1

          FOCUS_VALUE         :     0

          LENS_TYPE           :     Newmax 58.9 x 45.9 degs in VGA

          3RD_LENS_TYPE       :     AEOT

          LENS_COATING__TYPE  :     Visible-light block / IR pass 43 nm width

          3RD_LENS_COATING_TYPE:     IR coating

          NOMINAL_BASELINE    :     70 mm

          3RD_NOMINAL_BASELINE:     58 mm

      Supported options:                                    min        max       step  default 

          COLOR_BACKLIGHT_COMPENSATION                       : 0    ... 1           1     0        

          COLOR_BRIGHTNESS                                   : -64  ... 64          1     0        

          COLOR_CONTRAST                                     : 0    ... 100         1     50       

          COLOR_EXPOSURE                                     : 50   ... 666         1     166      

          COLOR_GAIN                                         : 0    ... 128         1     64       

          COLOR_GAMMA                                        : 100  ... 500         1     300      

          COLOR_HUE                                          : -180 ... 180         1     0        

          COLOR_SATURATION                                   : 0    ... 100         1     64       

          COLOR_SHARPNESS                                    : 0    ... 100         1     50       

          COLOR_WHITE_BALANCE                                : 2800 ... 6500        10    4600     

          COLOR_ENABLE_AUTO_EXPOSURE                         : 0    ... 1           1     1        

          COLOR_ENABLE_AUTO_WHITE_BALANCE                    : 0    ... 1           1     1        

          R200_LR_AUTO_EXPOSURE_ENABLED                      : 0    ... 1           1     0        

          R200_LR_GAIN                                       : 100  ... 6399        1     400      

          R200_LR_EXPOSURE                                   : 1    ... 330         1     164      

          R200_EMITTER_ENABLED                               : 0    ... 1           1     0        

          R200_DEPTH_UNITS                                   : 0    ... 2.14748e+09 1     1000     

          R200_DEPTH_CLAMP_MIN                               : 0    ... 65535       1     0        

          R200_DEPTH_CLAMP_MAX                               : 0    ... 65535       1     65535    

          R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT       : 0    ... 255         1     5        

          R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT       : 0    ... 255         1     5        

          R200_DEPTH_CONTROL_MEDIAN_THRESHOLD                : 0    ... 1023        1     192      

          R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD         : 0    ... 1023        1     1        

          R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD         : 0    ... 1023        1     512      

          R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD         : 0    ... 31          1     6        

          R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD    : 0    ... 1023        1     24       

          R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD           : 0    ... 1023        1     27       

          R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD              : 0    ... 1023        1     7        

          R200_DEPTH_CONTROL_LR_THRESHOLD                    : 0    ... 2047        1     24       

          FISHEYE_EXPOSURE                                   : 2    ... 320         1     4        

          FISHEYE_GAIN                                       : 0    ... 255         1     0        

          FISHEYE_STROBE                                     : 0    ... 1           1     0        

          FISHEYE_EXTERNAL_TRIGGER                           : 0    ... 1           1     0        

          FISHEYE_ENABLE_AUTO_EXPOSURE                       : 0    ... 1           1     1        

          FISHEYE_AUTO_EXPOSURE_MODE                         : 0    ... 2           1     0        

          FISHEYE_AUTO_EXPOSURE_ANTIFLICKER_RATE             : 50   ... 60          10    60       

          FISHEYE_AUTO_EXPOSURE_PIXEL_SAMPLE_RATE            : 1    ... 3           1     1        

          FISHEYE_AUTO_EXPOSURE_SKIP_FRAMES                  : 2    ... 3           1     2        

          FRAMES_QUEUE_SIZE                                  : 1    ... 20          1     20       

          HARDWARE_LOGGER_ENABLED                            : 0    ... 1           1     0        

      Stream DEPTH - 36 modes:

        640    x 480    @ 90Hz    Z16    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 90Hz    DISPARITY16    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 60Hz    Z16    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 60Hz    DISPARITY16    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 30Hz    Z16    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 30Hz    DISPARITY16    57.5 x 44.7 degrees, distortion = NONE

        628    x 468    @ 90Hz    Z16    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 90Hz    DISPARITY16    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 60Hz    Z16    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 60Hz    DISPARITY16    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 30Hz    Z16    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 30Hz    DISPARITY16    56.6 x 43.7 degrees, distortion = NONE

        492    x 372    @ 90Hz    Z16    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 90Hz    DISPARITY16    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 60Hz    Z16    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 60Hz    DISPARITY16    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 30Hz    Z16    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 30Hz    DISPARITY16    57.2 x 44.8 degrees, distortion = NONE

        480    x 360    @ 90Hz    Z16    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 90Hz    DISPARITY16    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 60Hz    Z16    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 60Hz    DISPARITY16    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 30Hz    Z16    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 30Hz    DISPARITY16    56 x 43.5 degrees, distortion = NONE

        332    x 252    @ 90Hz    Z16    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 90Hz    DISPARITY16    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 60Hz    Z16    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 60Hz    DISPARITY16    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 30Hz    Z16    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 30Hz    DISPARITY16    57 x 44.8 degrees, distortion = NONE

        320    x 240    @ 90Hz    Z16    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 90Hz    DISPARITY16    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 60Hz    Z16    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 60Hz    DISPARITY16    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 30Hz    Z16    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 30Hz    DISPARITY16    55.3 x 42.9 degrees, distortion = NONE

      Stream COLOR - 72 modes:

        1920    x 1080    @ 30Hz    YUYV    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1920    x 1080    @ 30Hz    RGB8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1920    x 1080    @ 30Hz    BGR8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1920    x 1080    @ 30Hz    RGBA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1920    x 1080    @ 30Hz    BGRA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1920    x 1080    @ 30Hz    RAW16    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1920    x 1080    @ 15Hz    YUYV    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1920    x 1080    @ 15Hz    RGB8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1920    x 1080    @ 15Hz    BGR8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1920    x 1080    @ 15Hz    RGBA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1920    x 1080    @ 15Hz    BGRA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1280    x 720    @ 15Hz    YUYV    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1280    x 720    @ 15Hz    RGB8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1280    x 720    @ 15Hz    BGR8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1280    x 720    @ 15Hz    RGBA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        1280    x 720    @ 15Hz    BGRA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        960    x 540    @ 15Hz    YUYV    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        960    x 540    @ 15Hz    RGB8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        960    x 540    @ 15Hz    BGR8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        960    x 540    @ 15Hz    RGBA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        960    x 540    @ 15Hz    BGRA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        848    x 480    @ 15Hz    YUYV    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        848    x 480    @ 15Hz    RGB8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        848    x 480    @ 15Hz    BGR8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        848    x 480    @ 15Hz    RGBA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        848    x 480    @ 15Hz    BGRA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 60Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 60Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 60Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 60Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 60Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 30Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 30Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 30Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 30Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 30Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 15Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 15Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 15Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 15Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 15Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 480    @ 15Hz    RAW16    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 360    @ 15Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 360    @ 15Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 360    @ 15Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 360    @ 15Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        640    x 360    @ 15Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        424    x 240    @ 15Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        424    x 240    @ 15Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        424    x 240    @ 15Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        424    x 240    @ 15Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        424    x 240    @ 15Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 60Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 60Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 60Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 60Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 60Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 30Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 30Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 30Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 30Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 30Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 15Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 15Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 15Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 15Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 240    @ 15Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 180    @ 15Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 180    @ 15Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 180    @ 15Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 180    @ 15Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

        320    x 180    @ 15Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

      Stream INFRARED - 36 modes:

        640    x 480    @ 90Hz    Y8    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 90Hz    Y16    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 60Hz    Y8    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 60Hz    Y16    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 30Hz    Y8    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 30Hz    Y16    57.5 x 44.7 degrees, distortion = NONE

        628    x 468    @ 90Hz    Y8    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 90Hz    Y16    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 60Hz    Y8    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 60Hz    Y16    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 30Hz    Y8    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 30Hz    Y16    56.6 x 43.7 degrees, distortion = NONE

        492    x 372    @ 90Hz    Y8    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 90Hz    Y16    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 60Hz    Y8    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 60Hz    Y16    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 30Hz    Y8    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 30Hz    Y16    57.2 x 44.8 degrees, distortion = NONE

        480    x 360    @ 90Hz    Y8    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 90Hz    Y16    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 60Hz    Y8    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 60Hz    Y16    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 30Hz    Y8    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 30Hz    Y16    56 x 43.5 degrees, distortion = NONE

        332    x 252    @ 90Hz    Y8    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 90Hz    Y16    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 60Hz    Y8    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 60Hz    Y16    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 30Hz    Y8    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 30Hz    Y16    57 x 44.8 degrees, distortion = NONE

        320    x 240    @ 90Hz    Y8    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 90Hz    Y16    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 60Hz    Y8    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 60Hz    Y16    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 30Hz    Y8    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 30Hz    Y16    55.3 x 42.9 degrees, distortion = NONE

      Stream INFRARED2 - 36 modes:

        640    x 480    @ 90Hz    Y8    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 90Hz    Y16    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 60Hz    Y8    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 60Hz    Y16    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 30Hz    Y8    57.5 x 44.7 degrees, distortion = NONE

        640    x 480    @ 30Hz    Y16    57.5 x 44.7 degrees, distortion = NONE

        628    x 468    @ 90Hz    Y8    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 90Hz    Y16    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 60Hz    Y8    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 60Hz    Y16    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 30Hz    Y8    56.6 x 43.7 degrees, distortion = NONE

        628    x 468    @ 30Hz    Y16    56.6 x 43.7 degrees, distortion = NONE

        492    x 372    @ 90Hz    Y8    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 90Hz    Y16    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 60Hz    Y8    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 60Hz    Y16    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 30Hz    Y8    57.2 x 44.8 degrees, distortion = NONE

        492    x 372    @ 30Hz    Y16    57.2 x 44.8 degrees, distortion = NONE

        480    x 360    @ 90Hz    Y8    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 90Hz    Y16    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 60Hz    Y8    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 60Hz    Y16    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 30Hz    Y8    56 x 43.5 degrees, distortion = NONE

        480    x 360    @ 30Hz    Y16    56 x 43.5 degrees, distortion = NONE

        332    x 252    @ 90Hz    Y8    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 90Hz    Y16    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 60Hz    Y8    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 60Hz    Y16    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 30Hz    Y8    57 x 44.8 degrees, distortion = NONE

        332    x 252    @ 30Hz    Y16    57 x 44.8 degrees, distortion = NONE

        320    x 240    @ 90Hz    Y8    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 90Hz    Y16    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 60Hz    Y8    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 60Hz    Y16    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 30Hz    Y8    55.3 x 42.9 degrees, distortion = NONE

        320    x 240    @ 30Hz    Y16    55.3 x 42.9 degrees, distortion = NONE

      Stream FISHEYE - 2 modes:

        640    x 480    @ 60Hz    RAW8rs.warn: Intrinsics validation of FISHEYE failed, ver.size param. = 0; actual size = 56

      rs.error: The intrinsic of FISHEYE is not valid

          180 x 180 degrees, distortion = FTHETA

        640    x 480    @ 30Hz    RAW8rs.warn: Intrinsics validation of FISHEYE failed, ver.size param. = 0; actual size = 56

      rs.error: The intrinsic of FISHEYE is not valid

          180 x 180 degrees, distortion = FTHETA

      The above error pops up.How to debug this error?

        • 1. Re: ZR300 fisheye intrinsics
          Intel Corporation
          This message was posted on behalf of Intel Corporation

          Hello Sambuddha_Saha,

          Thank you for your interest in the Intel® RealSense™ Development Kit Featuring the ZR300.

          In order to provide the adequate assistance, could you please tell me what system you are using to run Ubuntu 16.04? Also, please provide the link to the specific sample that you were running.
          Do you get the same error message when testing other samples?

          I’ll be waiting for your response.

          Have a nice day.

          Regards,
          Andres V.

          • 2. Re: ZR300 fisheye intrinsics
            Sambuddha_Saha

            I am using Lenovo thinkpad T570. When I'm using cpp-capture or cpp-config-ui, the fisheye frames are all black.

            • 3. Re: ZR300 fisheye intrinsics
              Sambuddha_Saha

              These sample codes are in librealsense/examples.

              • 4. Re: ZR300 fisheye intrinsics
                MartyG

                Sambuddha, I tried researching your problem.  Whilst I did not find an exact match to it, I did find a small number of cases where people seem to have had a similar issue with the ZR300, cpp-capture and the fisheye.  For your convenience, I'll try to summarize suggestions here.

                 

                Sergey Dorodnicov, one of the senior developers at Librealsense, suggested:

                 

                ********

                 

                If you are running on a laptop on battery, please try connecting it to power

                 

                If you have access to a powered USB3 Hub, this is also worth a try  (Dorodnicov added later that the ZR300 is quite power-hungry, he reckoned)

                 

                Could you please run cpp-config-ui and check if depth alone, IR alone, depth + IR, depth + color are working.  Also, in config-ui you can see the FPS, so you can check if fish-eye is not streaming or if it is just producing dark frames.

                 

                (the user responded that their fisheye's FPS was instead moving, indicating that the fisheye was doing something, but the image remained black no matter what they did).

                 

                *******

                 

                Powered hubs draw their power from the mains power-point instead instead of the PC's USB port.  They are available from stores such as Amazon for around $15 by searching for 'powered usb 3.0 hub'.

                 

                Someone else on the above discussion added:

                 

                "In addition there are two GUI controls for FishEye that you should also try : "Exposure" and "Gain" that appear at the bottom of the sliders panel, next to "STROBE" and "External Trigger" check boxes.  And last thing, and I know that this sounds silly, but please verify that you have the FishEye lens cover plastic cap removed."

                 

                Hopefully the above information will help you to make progress in solving your problem.

                • 5. Re: ZR300 fisheye intrinsics
                  Sambuddha_Saha

                  It is running on power and i can see the fisheye frames on running cpp-config-ui but the error doesn't go away. All the other  streams are working fine. Also tried exposure and gain.

                   

                  $ sudo cpp-config-ui

                  rs.warn: Intrinsics validation of FISHEYE failed, ver.size param. = 0; actual size = 56

                  rs.error: The intrinsic of FISHEYE is not valid

                  rs.warn: Intrinsics validation of FISHEYE failed, ver.size param. = 0; actual size = 56

                  rs.error: The intrinsic of FISHEYE is not valid

                  Capturing DEPTH at 628 x 468, fov = 56.6 x 43.7, distortion = NONE

                  Capturing COLOR at 640 x 480, fov = 55.1 x 42.7, distortion = MODIFIED_BROWN_CONRADY

                  Capturing INFRARED at 640 x 480, fov = 57.5 x 44.7, distortion = NONE

                  Capturing INFRARED2 at 640 x 480, fov = 57.5 x 44.7, distortion = NONE

                  rs.warn: Intrinsics validation of FISHEYE failed, ver.size param. = 0; actual size = 56

                  rs.error: The intrinsic of FISHEYE is not valid

                  Capturing FISHEYE at 640 x 480, fov = 180.0 x 180.0, distortion = FTHETA

                  rs.warn: interrupt e.p. timeout

                  rs.warn: interrupt e.p. timeout

                  rs.warn: interrupt e.p. timeout

                  rs.warn: Subdevice 0 bad magic number 0x0

                  rs.warn: Subdevice 1 bad magic number 0x0

                  rs.warn: Subdevice 0 bad magic number 0x0

                  rs.warn: Subdevice 1 bad magic number 0x0

                  rs.warn: Subdevice 0 bad magic number 0x0

                  rs.warn: Subdevice 1 bad magic number 0x0

                  rs.warn: Subdevice 0 bad magic number 0x0

                  rs.warn: Subdevice 1 bad magic number 0x0

                   

                  Above is the error result for the command when I ran it. Removing the lens cover worked.Thanks. But how to debug this error that the fisheye intrinsics is not valid?

                  • 6. Re: ZR300 fisheye intrinsics
                    MartyG

                    One of the other users with fisheye black image issues had the same rs.warn readout.  They tried 2 different ZR300 cameras and got the same result.

                     

                    Dorodnicov said to that user that whilst they should ensure that their kernel is patched up to date and that their firmware is fine, " on Ubuntu 16.04, ZR300 Depth and IR should play out of the box, even without any patches ... can you please check the firmware version(s) through cpp-enumerate-devices example?"

                     

                    I'll link you to the full discussion that this info originates from.

                     

                    "Unknown pixelformat" error on ubuntu 16.04 leading to only RGB camera working. · Issue #400 · IntelRealSense/librealsen…

                    • 7. Re: ZR300 fisheye intrinsics
                      Sambuddha_Saha

                      Now, the fisheye is giving correct visible frames...but the error is still there.

                      Device 0 - Intel RealSense ZR300:

                      Serial number: 4031803394

                      Firmware version: 2.0.71.28

                      USB Port ID: 2-1-2

                      Adapter Board Firmware version: 1.29.0.0

                      Motion Module Firmware version: 1.25.0.0

                      Camera info:

                          DEVICE_NAME         :     Intel RealSense ZR300

                          DEVICE_SERIAL_NUMBER:     4031803394

                          CAMERA_FIRMWARE_VERSION:     2.0.71.28

                          ADAPTER_BOARD_FIRMWARE_VERSION:     1.29.0.0

                          MOTION_MODULE_FIRMWARE_VERSION:     1.25.0.0

                          CAMERA_TYPE         :     PRQ-Ready

                          OEM_ID              :     OEM None

                          ISP_FW_VERSION      :     0xd942

                          CONTENT_VERSION     :     12

                          MODULE_VERSION      :     4.4.0.111

                          IMAGER_MODEL_NUMBER :     33

                          CALIBRATION_DATE    :     2014-07-04 08:18:35 UTC

                          EMITTER_TYPE        :     Laser Driver 4.1

                          FOCUS_VALUE         :     0

                          LENS_TYPE           :     Newmax 58.9 x 45.9 degs in VGA

                          3RD_LENS_TYPE       :     AEOT

                          LENS_COATING__TYPE  :     Visible-light block / IR pass 43 nm width

                          3RD_LENS_COATING_TYPE:     IR coating

                          NOMINAL_BASELINE    :     70 mm

                          3RD_NOMINAL_BASELINE:     58 mm

                      Supported options:                                    min        max       step  default 

                          COLOR_BACKLIGHT_COMPENSATION                       : 0    ... 1           1     0        

                          COLOR_BRIGHTNESS                                   : -64  ... 64          1     0        

                          COLOR_CONTRAST                                     : 0    ... 100         1     50       

                          COLOR_EXPOSURE                                     : 50   ... 666         1     166      

                          COLOR_GAIN                                         : 0    ... 128         1     64       

                          COLOR_GAMMA                                        : 100  ... 500         1     300      

                          COLOR_HUE                                          : -180 ... 180         1     0        

                          COLOR_SATURATION                                   : 0    ... 100         1     64       

                          COLOR_SHARPNESS                                    : 0    ... 100         1     50       

                          COLOR_WHITE_BALANCE                                : 2800 ... 6500        10    4600     

                          COLOR_ENABLE_AUTO_EXPOSURE                         : 0    ... 1           1     1        

                          COLOR_ENABLE_AUTO_WHITE_BALANCE                    : 0    ... 1           1     1        

                          R200_LR_AUTO_EXPOSURE_ENABLED                      : 0    ... 1           1     0        

                          R200_LR_GAIN                                       : 100  ... 6399        1     400      

                          R200_LR_EXPOSURE                                   : 1    ... 330         1     164      

                          R200_EMITTER_ENABLED                               : 0    ... 1           1     0        

                          R200_DEPTH_UNITS                                   : 0    ... 2.14748e+09 1     1000     

                          R200_DEPTH_CLAMP_MIN                               : 0    ... 65535       1     0        

                          R200_DEPTH_CLAMP_MAX                               : 0    ... 65535       1     65535    

                          R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT       : 0    ... 255         1     5        

                          R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT       : 0    ... 255         1     5        

                          R200_DEPTH_CONTROL_MEDIAN_THRESHOLD                : 0    ... 1023        1     192      

                          R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD         : 0    ... 1023        1     1        

                          R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD         : 0    ... 1023        1     512      

                          R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD         : 0    ... 31          1     6        

                          R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD    : 0    ... 1023        1     24       

                          R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD           : 0    ... 1023        1     27       

                          R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD              : 0    ... 1023        1     7        

                          R200_DEPTH_CONTROL_LR_THRESHOLD                    : 0    ... 2047        1     24       

                          FISHEYE_EXPOSURE                                   : 2    ... 320         1     4        

                          FISHEYE_GAIN                                       : 0    ... 255         1     0        

                          FISHEYE_STROBE                                     : 0    ... 1           1     0        

                          FISHEYE_EXTERNAL_TRIGGER                           : 0    ... 1           1     0        

                          FISHEYE_ENABLE_AUTO_EXPOSURE                       : 0    ... 1           1     1        

                          FISHEYE_AUTO_EXPOSURE_MODE                         : 0    ... 2           1     0        

                          FISHEYE_AUTO_EXPOSURE_ANTIFLICKER_RATE             : 50   ... 60          10    60       

                          FISHEYE_AUTO_EXPOSURE_PIXEL_SAMPLE_RATE            : 1    ... 3           1     1        

                          FISHEYE_AUTO_EXPOSURE_SKIP_FRAMES                  : 2    ... 3           1     2        

                          FRAMES_QUEUE_SIZE                                  : 1    ... 20          1     20       

                          HARDWARE_LOGGER_ENABLED                            : 0    ... 1           1     0        

                      Stream DEPTH - 36 modes:

                        640    x 480    @ 90Hz    Z16    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 90Hz    DISPARITY16    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 60Hz    Z16    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 60Hz    DISPARITY16    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 30Hz    Z16    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 30Hz    DISPARITY16    57.5 x 44.7 degrees, distortion = NONE

                        628    x 468    @ 90Hz    Z16    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 90Hz    DISPARITY16    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 60Hz    Z16    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 60Hz    DISPARITY16    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 30Hz    Z16    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 30Hz    DISPARITY16    56.6 x 43.7 degrees, distortion = NONE

                        492    x 372    @ 90Hz    Z16    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 90Hz    DISPARITY16    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 60Hz    Z16    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 60Hz    DISPARITY16    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 30Hz    Z16    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 30Hz    DISPARITY16    57.2 x 44.8 degrees, distortion = NONE

                        480    x 360    @ 90Hz    Z16    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 90Hz    DISPARITY16    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 60Hz    Z16    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 60Hz    DISPARITY16    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 30Hz    Z16    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 30Hz    DISPARITY16    56 x 43.5 degrees, distortion = NONE

                        332    x 252    @ 90Hz    Z16    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 90Hz    DISPARITY16    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 60Hz    Z16    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 60Hz    DISPARITY16    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 30Hz    Z16    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 30Hz    DISPARITY16    57 x 44.8 degrees, distortion = NONE

                        320    x 240    @ 90Hz    Z16    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 90Hz    DISPARITY16    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 60Hz    Z16    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 60Hz    DISPARITY16    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 30Hz    Z16    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 30Hz    DISPARITY16    55.3 x 42.9 degrees, distortion = NONE

                      Stream COLOR - 72 modes:

                        1920    x 1080    @ 30Hz    YUYV    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1920    x 1080    @ 30Hz    RGB8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1920    x 1080    @ 30Hz    BGR8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1920    x 1080    @ 30Hz    RGBA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1920    x 1080    @ 30Hz    BGRA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1920    x 1080    @ 30Hz    RAW16    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1920    x 1080    @ 15Hz    YUYV    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1920    x 1080    @ 15Hz    RGB8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1920    x 1080    @ 15Hz    BGR8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1920    x 1080    @ 15Hz    RGBA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1920    x 1080    @ 15Hz    BGRA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1280    x 720    @ 15Hz    YUYV    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1280    x 720    @ 15Hz    RGB8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1280    x 720    @ 15Hz    BGR8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1280    x 720    @ 15Hz    RGBA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        1280    x 720    @ 15Hz    BGRA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        960    x 540    @ 15Hz    YUYV    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        960    x 540    @ 15Hz    RGB8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        960    x 540    @ 15Hz    BGR8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        960    x 540    @ 15Hz    RGBA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        960    x 540    @ 15Hz    BGRA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        848    x 480    @ 15Hz    YUYV    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        848    x 480    @ 15Hz    RGB8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        848    x 480    @ 15Hz    BGR8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        848    x 480    @ 15Hz    RGBA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        848    x 480    @ 15Hz    BGRA8    69.7 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 60Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 60Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 60Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 60Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 60Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 30Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 30Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 30Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 30Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 30Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 15Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 15Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 15Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 15Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 15Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 480    @ 15Hz    RAW16    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 360    @ 15Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 360    @ 15Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 360    @ 15Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 360    @ 15Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        640    x 360    @ 15Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        424    x 240    @ 15Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        424    x 240    @ 15Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        424    x 240    @ 15Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        424    x 240    @ 15Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        424    x 240    @ 15Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 60Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 60Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 60Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 60Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 60Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 30Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 30Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 30Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 30Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 30Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 15Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 15Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 15Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 15Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 240    @ 15Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 180    @ 15Hz    YUYV    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 180    @ 15Hz    RGB8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 180    @ 15Hz    BGR8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 180    @ 15Hz    RGBA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                        320    x 180    @ 15Hz    BGRA8    55.1 x 42.7 degrees, distortion = MODIFIED_BROWN_CONRADY

                      Stream INFRARED - 36 modes:

                        640    x 480    @ 90Hz    Y8    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 90Hz    Y16    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 60Hz    Y8    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 60Hz    Y16    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 30Hz    Y8    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 30Hz    Y16    57.5 x 44.7 degrees, distortion = NONE

                        628    x 468    @ 90Hz    Y8    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 90Hz    Y16    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 60Hz    Y8    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 60Hz    Y16    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 30Hz    Y8    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 30Hz    Y16    56.6 x 43.7 degrees, distortion = NONE

                        492    x 372    @ 90Hz    Y8    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 90Hz    Y16    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 60Hz    Y8    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 60Hz    Y16    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 30Hz    Y8    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 30Hz    Y16    57.2 x 44.8 degrees, distortion = NONE

                        480    x 360    @ 90Hz    Y8    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 90Hz    Y16    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 60Hz    Y8    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 60Hz    Y16    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 30Hz    Y8    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 30Hz    Y16    56 x 43.5 degrees, distortion = NONE

                        332    x 252    @ 90Hz    Y8    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 90Hz    Y16    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 60Hz    Y8    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 60Hz    Y16    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 30Hz    Y8    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 30Hz    Y16    57 x 44.8 degrees, distortion = NONE

                        320    x 240    @ 90Hz    Y8    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 90Hz    Y16    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 60Hz    Y8    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 60Hz    Y16    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 30Hz    Y8    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 30Hz    Y16    55.3 x 42.9 degrees, distortion = NONE

                      Stream INFRARED2 - 36 modes:

                        640    x 480    @ 90Hz    Y8    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 90Hz    Y16    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 60Hz    Y8    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 60Hz    Y16    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 30Hz    Y8    57.5 x 44.7 degrees, distortion = NONE

                        640    x 480    @ 30Hz    Y16    57.5 x 44.7 degrees, distortion = NONE

                        628    x 468    @ 90Hz    Y8    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 90Hz    Y16    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 60Hz    Y8    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 60Hz    Y16    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 30Hz    Y8    56.6 x 43.7 degrees, distortion = NONE

                        628    x 468    @ 30Hz    Y16    56.6 x 43.7 degrees, distortion = NONE

                        492    x 372    @ 90Hz    Y8    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 90Hz    Y16    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 60Hz    Y8    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 60Hz    Y16    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 30Hz    Y8    57.2 x 44.8 degrees, distortion = NONE

                        492    x 372    @ 30Hz    Y16    57.2 x 44.8 degrees, distortion = NONE

                        480    x 360    @ 90Hz    Y8    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 90Hz    Y16    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 60Hz    Y8    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 60Hz    Y16    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 30Hz    Y8    56 x 43.5 degrees, distortion = NONE

                        480    x 360    @ 30Hz    Y16    56 x 43.5 degrees, distortion = NONE

                        332    x 252    @ 90Hz    Y8    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 90Hz    Y16    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 60Hz    Y8    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 60Hz    Y16    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 30Hz    Y8    57 x 44.8 degrees, distortion = NONE

                        332    x 252    @ 30Hz    Y16    57 x 44.8 degrees, distortion = NONE

                        320    x 240    @ 90Hz    Y8    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 90Hz    Y16    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 60Hz    Y8    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 60Hz    Y16    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 30Hz    Y8    55.3 x 42.9 degrees, distortion = NONE

                        320    x 240    @ 30Hz    Y16    55.3 x 42.9 degrees, distortion = NONE

                      Stream FISHEYE - 2 modes:

                        640    x 480    @ 60Hz    RAW8rs.warn: Intrinsics validation of FISHEYE failed, ver.size param. = 0; actual size = 56

                      rs.error: The intrinsic of FISHEYE is not valid

                          180 x 180 degrees, distortion = FTHETA

                        640    x 480    @ 30Hz    RAW8rs.warn: Intrinsics validation of FISHEYE failed, ver.size param. = 0; actual size = 56

                      rs.error: The intrinsic of FISHEYE is not valid

                          180 x 180 degrees, distortion = FTHETA

                      This is the output of cpp-enumerate-devices.

                      • 8. Re: ZR300 fisheye intrinsics
                        MartyG

                        Looking through the ZR300.cpp code, that particular fisheye size error at the bottom of your log is triggered if this If instruction is met:

                         

                        if (fisheye_intrinsic.calib.fe_intrinsic.ver.size != fisheye_intrinsic.calib.fe_intrinsic.get_data_size())

                         

                        It looks as though Librealsense is complaining that it expected the fisheye intrinsic to be one value and found another value.  The fisheye.intrinsic.calib instruction would suggest that it is a calibration-related issue.

                         

                        I apologize I am not more helpful or precise on this topic, as I'm not a Librealsense programming expert. 

                        • 9. Re: ZR300 fisheye intrinsics
                          Sambuddha_Saha

                          I have gone through the ZR300.cpp file. I know that line is triggering the error. But, where is fisheye_intrinsic.calib defined?

                          • 10. Re: ZR300 fisheye intrinsics
                            MartyG

                            Line 466 seems relevant.

                             

                            rs_intrinsics rs_intrinsics = fisheye_intrinsic.calib.fe_intrinsic;

                            • 11. Re: ZR300 fisheye intrinsics
                              Sambuddha_Saha

                              rs_intrinsics is defined in Zr300.h file but I don't understand that from where it will get the intrinsic parameter values for fisheye.

                              • 12. Re: ZR300 fisheye intrinsics
                                MartyG

                                To reference Alice in Wonderland, I think we're going deeper and deeper down the rabbit hole. 

                                 

                                My interpretation is that the above rs_intrinsics statement basically says that when the script line is run, the value of rs_intrinsics is made equal to whatever the current fisheye calibration value is.  I think that is what you were saying too?

                                 

                                So, following the White Rabbit down the hole ... if the fisheye is able to be read successfully on line 507, then it decides that the camera extrinsic is equal to the extrinsic of the calib intrinsic (yes, I had trouble processing that in my head too).

                                 

                                The intrinsic extrinsic seems to be set on line 312.

                                 

                                return fe_intrinsic.calib.mm_extrinsic.fe_to_imu;

                                 

                                I think it would be a good idea to let someone else who understands this topic better attempt your question now, as I am probably just creating more confusion.  Best of luck, and sorry I couldn't be of more help! 

                                • 13. Re: ZR300 fisheye intrinsics
                                  Sambuddha_Saha

                                  Thanks a lot. I'll try to process that. And, try to find out a way to resolve the intrinsic and extrinsic parameters so that it doesn't throw the error.

                                  • 14. Re: ZR300 fisheye intrinsics
                                    Sambuddha_Saha

                                    Can anybody please help me debug this fisheye intrinsic error? It's been a week now that I am at it and trying to solve this.

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