D435i camera config

HyoSeok·2024년 8월 13일

Camera Model

#==============#

Camera.name: "Realsense 435i"

Camera.setup - can change into stereo or RGBD

Camera.setup: "RGBD"
Camera.model: "perspective"

parameters for RGB image (change according to your camera calibration)

Camera.fx: 608.958435
Camera.fy: 608.723389
Camera.cx: 321.793488
Camera.cy: 240.326843

Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0
Camera.k3: 0.0

parameters for stereo setup. (change according to your camera calibration)

LEFT.height: 480
LEFT.width: 640
LEFT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [-0.015627, 0.000299, 0.000140, 0.000878, 0.000000]
LEFT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [382.80267333984375, 0.0, 316.8811340332031, 0.0, 382.80267333984375, 237.82000732421875, 0.0, 0.0, 1.0]
LEFT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
LEFT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [382.80267333984375, 0.0, 316.8811340332031, 0.0, 0.0, 382.80267333984375, 237.82000732421875, 0.0, 0.0, 0.0, 1.0, 0.0]

RIGHT.height: 480
RIGHT.width: 640
RIGHT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [0.0, 0.0, 0.0, 0.0, 0.0]
RIGHT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [382.80267333984375, 0.0, 316.8811340332031, 0.0, 382.80267333984375, 237.82000732421875, 0.0, 0.0, 1.0]
RIGHT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
RIGHT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [382.80267333984375, 0.0, 316.8811340332031, 0.0, 0.0, 382.80267333984375, 237.82000732421875, 0.0, 0.0, 0.0, 1.0, 0.0]

Camera.fps: 30.0
Camera.cols: 640
Camera.rows: 480
Camera.focal_x_baseline: 18.39835242 # please change this parameter your_camera_fx*baseline

Camera.color_order: "RGB"

#================#

ORB Parameters

#================#

Feature.max_num_keypoints: 1000
Feature.scale_factor: 1.2
Feature.num_levels: 8
Feature.ini_fast_threshold: 20
Feature.min_fast_threshold: 7

#=====================#

Tracking Parameters

#=====================#

depth_threshold: 10.0
depthmap_factor: 1000.0

#========================#

Initializer Parameters

#========================#

Initializer.num_min_triangulated_pts: 400

#===========================#

PangolinViewer Parameters

#===========================#

PangolinViewer.keyframe_size: 0.07
PangolinViewer.keyframe_line_width: 1
PangolinViewer.graph_line_width: 1
PangolinViewer.point_size: 2
PangolinViewer.camera_size: 0.08
PangolinViewer.camera_line_width: 3
PangolinViewer.viewpoint_x: 0
PangolinViewer.viewpoint_y: -0.65
PangolinViewer.viewpoint_z: -1.9
PangolinViewer.viewpoint_f: 400

#=====================#

Tracking Parameters

#=====================#

#depth_threshold: 40

Orbslam3 Docker

sudo xhost +local:root && docker run --privileged --name orb-3-container --rm -p 8087:8087 -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev:/dev:ro --gpus all -it lmwafer/orb-slam-3-ready:1.0-ubuntu18.04