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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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Does parameter 'Camera.bf' really matter for Azure Kinect camera to run ORB SLAM2? #899

Open msr-peng opened 4 years ago

msr-peng commented 4 years ago

For stereo depth camera (like Intel RealSense D415 and D435), to run orb slam2 in RGB-D mode, it's required to pass a parameters Camera.bf to the SLAM system, it's the baseline of IR projector times fx like follow: IR Baseline For Azure Kinect camera, the hardware specifications page doesn't have this parameter. I also tried to ask this via Azure Kinect SDK github's issue, but they told me Azure Kinect's time-of-flight is a uniform illumination with a completely different principle to compute depth compare to stereo matching.

So does parameter 'Camera.bf' really matter for Azure Kinect camera to run ORB SLAM2?

mathuse commented 4 years ago

I think it is matter,because "mb = mbf/fx;" is exist in the "Frane.cc" construct function for RGB-D.