How to calibrate this depth camera to integrate with yolov5?

[NANDKLFSAJDKJHAjkhdsakxz1312]

Description

I am currently working on a project about bin picking in the Gazebo simulator. The detailed scenario is as follows:

Setup:

• A robotic arm with a vacuum gripper as the end effector and a box block to be picked.
• An Intel Realsense D435 depth camera facing down to the box block.

Available Information:

• The ground truth for the localization and pose of the box block in Gazebo, which I can obtain using the get_model_state topic.
• The pixel value of the geometrical center point of the box block, calculated from the bounding box provided by YOLOv5.
• The distance from the camera to the box block, set by me through the set_model_state topic.
• The intrinsic parameters of the depth camera (K matrix).
• The extrinsic parameters of the depth camera, which I can get from the /tf topic (I know the relative rotation and translation of the camera with respect to the world origin).

Goal:

• To obtain the 3D coordinates of the box block under the world coordinate system in Gazebo.

Problem:

• Despite having all the necessary information, the coordinate transformation yields incorrect 3D coordinates under the world coordinate system, differing from the ground truth.
• I suspect the issue may stem from an internal rotation and translation within the camera system. Specifically, the optical center of the camera might not align with the camera's coordinate value set using set_model_state in Gazebo or the intrinsic parameters already account for internal rotation and translation?

Request for Help:

• Could someone provide guidance on resolving this mismatch? I have been stuck on this issue for several days.

Thank you in advance for any help or insights!