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Beginner
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camera parameters of Intel-realsense-r200

Hi,

Recently, I try to use r200 to do ORB_SLAM. I need to know the camera parameters of intel-realsense-r200. How can I get these parameters:fx,fy,cx,cy,k1,k2,p1,p2,k3?

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Community Manager
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Hello lawdgeye,

Thank you for your interest in the Intel RealSense R200 camera.

I came across these issues in GitHub in which you can see that the parameters are listed, but have different values.

Links here:

You can use this example command, in order to get your own parameters

$ rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml

Kindly let me know if I can provide you any other information!

Thank you,

 

Eliza
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Community Manager
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Hello lawdgeye,

 

 

Could you please let me know if you require further assistance on this matter?

 

 

Thank you,

 

Eliza
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Beginner
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Hi Eliza,

Thank you for your reply. The links above didn't help. The second link shows the parameter of their own camera, which maybe is not R200. Well, I cannot judge the accuracy of the parameter in first link.

The command can only give me the parameter of their own camera for the datasets.

$ rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml

In fact, I start this issue because I cannot get the image of the camera when I run ORBSLAM2. Now I have solved it by replace the rostopic "/camera/depth_registered/image_raw" to "/camera/depth/image_raw". So, it seems not the issue about camera parameter. However, if someday I got a problem about camera parameter, the official tips may help a lot.

Thank you

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Beginner
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Hi Eliza,

I did the calibration just now, and got a set of parameters, of which the values are close to the first link shown.

Thank you for your help.

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