topic Re: Using RealSense with ORBSLAM2 in Items with no label

Using RealSense with ORBSLAM2

ABenj1 — Tue, 15 May 2018 14:56:31 GMT

Hi,

I am currently trying to use ORBSLAM2's RGB-D ROS node with the RealSense D415 Camera. As part of the process, I need a yaml file that captures the focal depths and image centers at a given resolution. I have two questions pertaining to this:

1) How does one go about acquiring these parameters?

2) Does the user have to calibrate the realsense camera at a particular resolution to obtain these values?

Thank you.

Re: Using RealSense with ORBSLAM2

MartyG — Tue, 15 May 2018 15:55:04 GMT

Intel's Euclid kit (a candy bar sized mini PC with a RealSense ZR300 camera in) could use ORB_SLAM2, so there are some references to how to configure yaml if you google for 'intel euclid yaml'. You may be able to adapt these for using ORB_SLAM2 with D415.

For example, the link below is a discussion about using ZR300 with ORB_SLAM2 and the configuring of the yaml file.

This other guide may be useful too. It makes reference to example yaml files in a folder called ORB/Examples/Mono/ - I'm guessing this is one of the folders in the ORB_SLAM2 package.

http://www.euclidcommunity.intel.com/static/tutorials/pdf/orbslam/orbslam2_tutorial.pdf http://www.euclidcommunity.intel.com/static/tutorials/pdf/orbslam/orbslam2_tutorial.pdf

The above guide recommends that ORB_SLAM2 users should calibrate their camera.

Re: Using RealSense with ORBSLAM2

MEppl — Tue, 06 Nov 2018 20:30:21 GMT

Hi,

I succesfully implemented the ROS stereo node of ORBSLAM2 with the D435. But in the stereo picture the IR pattern is always detected as ORB feature. The calculated trajectory is wrong. If you want to make use of the laser projector, the RGB-D node is necessary.

Were you able to implement it ? In my case the camera position is jumping.

ORB SLAM says: "RGB-D input must be synchronized and depth registered"

To my knowledge, rgb and depth pictures of realsense are not synchronized?

Which baseline are you using? The distance between the stereo cameras or between left camera and laser projector?

I'm also not sure about which topics to use.

To get the correct mapping between the pixels in rgb and depth picture the /aligned_depth_to_color and the /color/image_raw topic is necessary?

But there is also the topic /camera/depth/image_rect_raw. Is the aligned_depth_to_color topic not rectified?

Re: Using RealSense with ORBSLAM2

idata — Tue, 13 Nov 2018 01:06:22 GMT

Hello MaEp,

Does this post help you? https://github.com/IntelRealSense/librealsense/issues/2580

Regards,

Jesus G.

Intel Customer Support