Processing RGBD images

[fls.bp.us]

I am trying to process a .bag file from a D435i that a recorded a few months ago.
I have converted it to a folder of color images and depth images.  I converted the camera intrinsics .json from
{
    "width": 848,
    "height": 480,
    "intrinsic_matrix": [
        607.1751098632812,
        0,
        0,
        0,
        605.8165893554688,
        0,
        430.6534118652344,
        240.14419555664062,
        1
    ]
}
to
%YAML:1.0
---
camera_name: calib
image_width: 848
image_height: 484
camera_matrix:
   rows: 3
   cols: 3
   data: [ 607.1751098632812, 0, 0, 0, 605.8165893554688, 0, 430.6534118652344, 240.14419555664062, 1 ].
When I go to start, it is prompting me to calibrate the camera.  Am I missing something in the calib file?

[matlabbe]

Hi,

Are there more warnings in the terminal?

You can click on Create Calibration button in Preferences->Source to make sure the resulting calibration file is compatible. Here is the one generated:

%YAML:1.0
---
camera_name: calib
image_width: 848
image_height: 480
camera_matrix:
   rows: 3
   cols: 3
   data: [ 6.0717510900000002e+02, 0., 4.3065341100000001e+02, 0.,
       6.0581658900000002e+02, 2.4014419500000000e+02, 0., 0., 1. ]

Comparing both, it seems your K matrix is wrong. Make sure also that "Calibration file path (*.yaml)" is set.

cheers,
Mathieu