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BertaBescos / DynaSLAM

DynaSLAM is a SLAM system robust in dynamic environments for monocular, stereo and RGB-D setups
https://bertabescos.github.io/DynaSLAM/
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How to get some parameters such as `Camera.bf` and `ThDepth`? #53

Closed KaninchenM closed 4 years ago

KaninchenM commented 4 years ago

In yaml file such as /DynaSLAM/Examples/RGB-D/TUM1.yaml, there are some parameters, such as Camera intrinsics(Camera.fx, Camera.fy, Camera.cx, Camera.cy) and Distortion coefficients(Camera.k1,k2,k3,p1,p2). But I'm not sure what's the meaning of Camera.bf and ThDepth. How can I calculate them(such as Baseline multiplied by focal length)? Or where can I find them?(For example, in TUM-RGBD , I have not find the information about Camera.bf and ThDepth). Waiting for reply. Thank you.

KaninchenM commented 4 years ago

Camera.bf = baseline*Camera.fx , which is the parameter of camera. So we can search it by keyword camera name(such as D435). Meanwhile, some contributors of public datasets may Recalibrate the data sequence before using. If someone need to use dataset Open Scene as me, please check parameters here lifelong-slam_issues11