intel realsense系列相机关于深度图与rgb图对齐失败，问题总结

 前几天贪便宜，淘了一个二手的d435相机用来搞6d姿态估计，在使用objectdatasettools工具的recode2.py工具生成linemod数据集的rgb与depth图片，进行到 compute_gt_poses.py时报了一个错

Full registration ...
registration::PoseGraph with 0 nodes and 0 edges.
  0%|                                                                                          | 0/301 [00:00<?, ?it/s][Open3D WARNING] [KDTreeFlann::SetRawData] Failed due to no data.
[Open3D WARNING] [KDTreeFlann::SetRawData] Failed due to no data.
  0%|                                                                                          | 0/301 [00:00<?, ?it/s]
Traceback (most recent call last):
  File "compute_gt_poses.py", line 353, in <module>
    pose_graph = full_registration(path, max_correspondence_distance_coarse,
  File "compute_gt_poses.py", line 182, in full_registration
    transformation_icp, information_icp = icp(
  File "C:\Users\szz\Desktop\ObjectDatasetTools-master\registration.py", line 50, in icp
    icp_coarse = registration.registration_icp(source, target,
RuntimeError: [Open3D ERROR] TransformationEstimationPointToPlane and TransformationEstimationColoredICP require pre-computed normal vectors.

这是因为数据集对齐失败，导致计算时深度图缺失而引起的，我通过输出对齐后的深度图数据，显示全是0的数组，由此推测，应该是对齐的变换矩阵为零导致的，输出的深度图如下图所示。

而对齐变换矩阵与相机的参数有关，不出所料输出参数如下所示

Rotation: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
Translation: [0.0, 0.0, 0.0]
Extrinsics from depth to color are all zeros.

这是我们可以通过intel官方提供的dynamic calibrator相机标定工具来标定相机参数。

标定工具安装路径如下

https://www.intel.com/content/www/us/en/download/645988/29618/intel-realsense-d400-series-dynamic-calibration-tool.htmlhttps://www.intel.com/content/www/us/en/download/645988/29618/intel-realsense-d400-series-dynamic-calibration-tool.html