realsenseD435i相机标定小Tips_d435标定 ros-优快云博客

本文链接：https://blog.youkuaiyun.com/qq_74338754/article/details/129889099

文章讲述了如何在ROS环境下通过realsense2_camera节点运行RealSenseD435i相机，并查看及修改相机的内参，如K矩阵。此外，还涉及到ORB_SLAM2系统中的参数设置，包括特征点数量、尺度因子等，以实现基于D435i的实时三维重建。

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相机在运行时本身就带有参数，可以随时查看

首先运行相机的topic：roslaunch realsense2_camera rs_rgbd.launch

然后打开另一个终端输入：rostopic echo /camera/color/camera_info可以查看相机的内参
header:
seq: 1469
stamp:
secs: 1654853975
nsecs: 751267910
frame_id: "camera_color_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [611.2393798828125, 0.0, 319.9852600097656, 0.0, 610.677490234375, 242.4569854736328, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [611.2393798828125, 0.0, 319.9852600097656, 0.0, 0.0, 610.677490234375, 242.4569854736328, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False

终端中显示的K,为参数，其中K = [fx 0 cx 0 fy cy 0 0 1 ] ，基线50mm

修改参数，得到一个新的D435i.yam

%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 611.239380
Camera.fy: 610.677490
Camera.cx: 319.985260
Camera.cy: 242.456985

Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0
Camera.p3: 0.0

Camera.width: 640
Camera.height: 480
# Camera frames per second
Camera.fps: 30.0

# IR projector baseline times fx (aprox.)
# bf = baseline (in meters) * fx, D435i的 baseline = 50 mm
Camera.bf: 50.0

# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1

# Close/Far threshold. Baseline times.
ThDepth: 40.0

# Deptmap values factor
DepthMapFactor: 1000.0

#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000

# ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2

# ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8

# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7

#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize:2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500

PointCloudMapping.Resolution: 0.01
meank: 50
thresh: 2.0