search

raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
Other
9.42k stars 4.69k forks source link

stereo camera calibration #506

Open Realitian opened 6 years ago

Realitian commented 6 years ago

Hi I am beginner. how I can get camera setting file for stereo slam? is it possible using opencv's stereo calib example? Cheers.

rcabg commented 6 years ago

Hey there,

camera settings file depends on your own camera. In my case, I used ROS Camera Calibration package (http://wiki.ros.org/camera_calibration) in order to get all the cam parameters. After that, I filled the yaml file ( _ORB_SLAM2/Examples/ROS/ORBSLAM2/Asus.yaml in the case of this repository ) with the parameters I got before. Camera.bf and ThDepth calculation must be done manually with your camera baseline (distance between lenses) as Camera.bf = camera.fx * baseline(in meters)

It doesn't matter what you use as long as you fill the yaml file correctly. In fact, ROS Camera Calibration uses OpenCV camera calibration package.

For further info, I strongly recommend you to look into similar questions in this repository. Cheers.