D435i 相机内外参数分享，可用于VINS、ORB等算法

内容介绍

        之前做实验需要有无人机的定位信息，一般的话用GPS或者动捕来做比较稳定，但是更多数情况下的室内并没有他们，就得去自定位啦。采用相机的包括vins、orb3等算法，都需要输入相机的内参或者外参等。

        购买的相机同型号理论上来说参数都是一致的，但是生产过程中或者使用中参数可能发生变化。参数标定就很重要啦。

        之前做实验直接用的网上分享的内参，旋转矩阵里边都是0 1，这是不精确的，得到的实验结果也就差挺多。为了提高实验精度，自己学这用kalibr标定了相机。

        给大家分享一下D435i相机的内参外参数。

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D435i相机参数

内参

        这里我使用的VINS-Fusion做的自定位，就给出一下VINS-Fusion的启动文件吧。

        D435i_left.yaml

%YAML:1.0
---
model_type: PINHOLE
camera_name: camera
image_width: 640
image_height: 480
# distortion_parameters:
#    k1: -0.1
#    k2: 0.01
#    p1: 5e-5
#    p2: -1e-4
# projection_parameters:
#    fx: 388.81756591796875
#    fy: 388.81756591796875
#    cx: 319.6447448730469
#    cy: 237.4071502685547

distortion_parameters:
   k1: 0.007632535269979
   k2: -0.013282213867321
   p1: 0.001613519137183
   p2: 0.001256099806541

projection_parameters:
   fx: 381.354472717965
   fy: 382.74974724457
   cx: 323.382002464865
   cy: 242.163396985489

        D435i_right.yaml

%YAML:1.0
---
model_type: PINHOLE
camera_name: camera
image_width: 640
image_height: 480
# distortion_parameters:
#    k1: -0.1
#    k2: 0.01
#    p1: 5e-5
#    p2: -1e-4
# projection_parameters:
#    fx: 388.81756591796875
#    fy: 388.81756591796875
#    cx: 319.6447448730469
#    cy: 237.4071502685547

distortion_parameters:
   k1: 0.003777452996663
   k2: -0.005942226689154
   p1: 0.001688457291355
   p2: 0.000840626243983
projection_parameters:
   fx: 381.439076348885
   fy: 382.781558524495
   cx: 323.799585452161
   cy: 242.708950600827

外参

        这里IMU直接用的D435i自带的IMU。

        D435i_realsense_stereo_imu_config.yaml

%YAML:1.0

#common parameters
#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; 
imu: 1         
num_of_cam: 2  

imu_topic: "/camera/imu"
image0_topic: "/camera/infra1/image_rect_raw"
image1_topic: "/camera/infra2/image_rect_raw"
output_path: "~/output/"

cam0_calib: "D435i_left.yaml"
cam1_calib: "D435i_right.yaml"
image_width: 640
image_height: 480
   

# Extrinsic parameter between IMU and Camera.
estimate_extrinsic: 1   # 0  Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
                        # 1  Have an initial guess about extrinsic parameters. We will optimize around your initial guess.

# body_T_cam0: !!opencv-matrix
#    rows: 4
#    cols: 4
#    dt: d
#    data: [ 0.9999202097864208 , 0.0020216727466406 ,-0.0124694386395178, -0.0060393592650275,
#            -0.0021078333909270 , 0.9999739698836603 ,-0.0069004777740324 ,-0.0188520327459142,
#            0.0124551635507247,  0.0069262106825675 , 0.9998984430963509 , 0.0189713118846234,
#            0, 0, 0, 1 ]

# body_T_cam1: !!opencv-matrix
#    rows: 4
#    cols: 4
#    dt: d
#    data: [ 0.9999447194362803 , 0.0020474649944443,-0.0103133873482650,  0.0419288393042368,
#           -0.0020872338059752 , 0.9999904229336581 ,-0.0038467513570324, -0.0189071108664730,
#            0.0103054124875243 , 0.0038680651571764 , 0.9999394164375169 , 0.0196587335326899,
#            0, 0, 0, 1 ]

body_T_cam0: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [ 1 , 0 ,0, -0.0040393592650275,
           0 , 1 ,0 ,0,
           0,  0 , 1 , 0,
           0, 0, 0, 1 ]

body_T_cam1: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [ 1 ,0,0,  0.0419288393042368,
          0 , 1 ,0, 0,
           0 ,0 , 1 , 0,
           0, 0, 0, 1 ]

#Multiple thread support
multiple_thread: 1

#feature traker paprameters
max_cnt: 150            # max feature number in feature tracking
min_dist: 30            # min distance between two features 
freq: 10                # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image 
F_threshold: 1.0        # ransac threshold (pixel)
show_track: 1           # publish tracking image as topic
flow_back: 1            # perform forward and backward optical flow to improve feature tracking accuracy

#optimization parameters
max_solver_time: 0.04  # max solver itration time (ms), to guarantee real time
max_num_iterations: 8   # max solver itrations, to guarantee real time
keyframe_parallax: 10.0 # keyframe selection threshold (pixel)

#imu parameters       The more accurate parameters you provide, the better performance
acc_n: 0.04          # accelerometer measurement noise standard deviation. #0.2   0.04
gyr_n: 0.004         # gyroscope measurement noise standard deviation.     #0.05  0.004
acc_w: 0.002         # accelerometer bias random work noise standard deviation.  #0.002
gyr_w: 4.0e-5       # gyroscope bias random work noise standard deviation.     #4.0e-5
g_norm: 9.805         # gravity magnitude

#unsynchronization parameters
estimate_td: 1                      # online estimate time offset between camera and imu
td: -0.01157588930057003           # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)

#loop closure parameters
load_previous_pose_graph: 0        # load and reuse previous pose graph; load from 'pose_graph_save_path'
pose_graph_save_path: "/home/dji/output/pose_graph/" # save and load path
save_image: 1                   # save image in pose graph for visualization prupose; you can close this function by setting 0 

        分享结束，拜~~~