ERROR [138656707437120] (d400-factory.cpp:1006) RGB Extrinsic recovery routine failed

[kjkimnb]

camera d435i
the intrinsics and extrinsic of rgb are missing.
I follow this issue: #10182 (comment)
but noting happened after clicking the “Restore factory” button, and "write table" button is not accessible.
How can I fix the problem?

rs-enumerate-devices version: 2.56.5.9235

rs-enumerate-devices -s
12/11 16:27:09,856 ERROR [138656707437120] (d400-factory.cpp:1006) RGB Extrinsic recovery routine failed
Device Name Serial Number Firmware Version
Intel RealSense D435I 152122071756 5.17.0.10

the result of rs-enumerate-devices -c shows below:
Extrinsic from "Color" To "Depth" :
Rotation Matrix:
-nan-nan-nan
-nan-nan-nan
-nan-nan-nan

Translation Vector: -nan -nan -nan

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:
-nan-nan-nan
-nan-nan-nan
-nan-nan-nan

Translation Vector: -nan -nan -nan

Extrinsic from "Color" To "Infrared 2" :
Rotation Matrix:
-nan-nan-nan
-nan-nan-nan
-nan-nan-nan

Translation Vector: -nan -nan -nan

Extrinsic from "Color" To "Gyro" :
Rotation Matrix:
-nan-nan-nan
-nan-nan-nan
-nan-nan-nan

Translation Vector: -nan -nan -nan

Extrinsic from "Color" To "Accel" :
Rotation Matrix:
-nan-nan-nan
-nan-nan-nan
-nan-nan-nan

Translation Vector: -nan -nan -nan

[MartyG-RealSense]

Hi @kjkimnb With the calibration factory reset instructions, if the Write Table button is not accessible then you need to first make sure that the depth stream is enabled before opening the Calibration Data menu option, and then click on the box beside the 'I Know What I'm Doing' option at the bottom of the Camera Calibration pop-up window to turn the box beside it blue (enabled).

The Write Table button should then become usable. If the the depth stream has not been enabled or the box has not been turned blue then Write Table will remain ghosted out.

[kjkimnb]

@MartyG-RealSense after click the Write Table, my issue still not solved.
i use rs-enumerate-devices -c > ~/devices_info.txt
as you can see in the txt file below, the intrinsic and extrinsic of rgb camera is still missing
how to solve the problem?
devices_info.txt

[kjkimnb]

@MartyG-RealSense In theory, the intrinsic and extrinsic parameters of all D435i cameras should be identical. Could you provide me with a set of such data, and teach me how to make my camera use these exact parameters?

[MartyG-RealSense]

Each individual camera has unique calibration values due to the manufacturing process at the factory. So whilst other people's D435i intrinsic values may not be exactly suited to your own camera, I will share the extrinsics from my D435 (I have not currently got a D435i).

Extrinsic from "Color" To "Depth" :
Rotation Matrix:
0.999963 0.00608622 -0.00616353
-0.00608105 0.999981 0.000856014
0.00616863 -0.000818501 0.999981

Translation Vector: -0.0147668533027172 -0.000540265929885209 -0.000405339931603521

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:
0.999963 0.00608622 -0.00616353
-0.00608105 0.999981 0.000856014
0.00616863 -0.000818501 0.999981

Translation Vector: -0.0147668533027172 -0.000540265929885209 -0.000405339931603521

Extrinsic from "Color" To "Infrared 2" :
Rotation Matrix:
0.999963 0.00608622 -0.00616353
-0.00608105 0.999981 0.000856014
0.00616863 -0.000818501 0.999981

---

Is it only the RGB extrinsics that have this issue? Are the depth extrinsics displayed correctly by rs-enumerate-devices -c

[MartyG-RealSense]

Have you tried downgrading your firmware to 5.17.0.9 to see whether your issue is caused by your current firmware driver?

[kjkimnb]

@MartyG-RealSense

1. yes, depth extrinsics displayed correctly by rs-enumerate-devices -c. All RGB-related parameters（both intrinsics and extrinsics） are NaN. So, I also need your rgb intrinsics.
2. In fact, I updated the firmware driver after discovering this issue, so I don't think it's related to that.
3. Is there a way to retrieve the factory-calibrated parameters?
4. Or if I use your parameters for now (the error should be minimal I guess), how should I write these parameters so that the output of rs-enumerate-devices -c returns to normal? Since the nvblox project I'm currently running automatically reads parameters from RealSense, I need to restore the camera's internal parameters to normal without modifying the source code.

[MartyG-RealSense]

1. Intrinsics are different for each resolution, so please tell me which resolution your project is using so I can retrieve the appropriate set of RGB intrinsics.

2. Okay, thanks for the information.

3. Resetting the calibration is the only way to restore the original values if the camera has previously undergone a calibration since you purchased it.

Another way in which the current RGB intrinsics can be retrieved is to use the rs-sensor-control program.

4. You can define and apply a custom set of intrinsics in program code but cannot save them permanently to the camera hardware.

[MartyG-RealSense]

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