realsenseD435i相机标定小Tips

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

具体可以参考这位博主(8条消息) 二十九-使用RealSenseD435进行ORBSLAM2实时三维重建_d435 slam_goldqiu的博客-CSDN博客