1 2 Previous Next 19 Replies Latest reply on Jul 20, 2017 1:43 AM by SubMarIn

    ZR300/Eulid Cameras with ORB_SLAM2

    SubMarIn

      Has anyone  here, tried to use ORB_SLAM2 with Euclid? If so, can you please share the yaml file, I want to check my values.

       

      Here are my values:

      # Camera calibration and distortion parameters (OpenCV)

      Camera.fx: 306.17877197265625

      Camera.fy: 306.9290466308594

      Camera.cx: 158.52369689941406

      Camera.cy: 122.74759674072266

       

      Camera.k1: 0.0669681504368782

      Camera.k2: -0.11570779234170914

      Camera.p1: 0.00017276972357649356

      Camera.p2: -0.0005453163757920265

      Camera.k3: 0.0

       

      Camera.width: 320

      Camera.height: 240

       

      # Camera frames per second

      Camera.fps: 30.0

       

      # IR projector baseline times fx (aprox.)

      Camera.bf: 6 #baseline = 0.02 m for euclid sensor

       

      # 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: 5000.0

       

       

      P.S. I don't touch the ORB parameters.

        • 1. Re: ZR300/Eulid Cameras with ORB_SLAM2
          Intel Corporation
          This message was posted on behalf of Intel Corporation

          Hello SubMarIn,

          Thanks for contacting us.

          I have never used ORB_SLAM2, but I will try my best to help you.

          I'm going to investigate more about this, and I'll let you know when I have updates.

          Have a nice day.

          Regards,
          Leonardo R.

          • 2. Re: ZR300/Eulid Cameras with ORB_SLAM2
            Intel Corporation
            This message was posted on behalf of Intel Corporation

            Hello SubMarIn,

            Unfortunately ORB_SLAM2 is not supported and I didn't find any information that can be helpful for this, nevertheless we are wondering how you retrieved the camera calibration and distortion parameters. Could you be so kind to tell us?

            We will be waiting for your response.

            Regards,
            Leonardo R.

            • 3. Re: ZR300/Eulid Cameras with ORB_SLAM2
              SubMarIn

              Actually it supports ORB_SLAM2. My preliminary investigation implies so. I obtained the camera parameters by using the ros camera calibrator but the factory set values can be easily accessed from ros topics of type

              sensor_msgs/CameraInfo

               

              which is published on running the camera scenario of the euclid for each of the cameras.

               

              People have reported results of ORB_SLAM2 using one of your realsense cameras, eg. realsense orb-slam indoor outdoor - YouTube

               

              So, I can conclude that it is very much possible to integrate ORB_SLAM2 with euclid realsense. Yeah little bit of tuning may be necessary.

              • 4. Re: ZR300/Eulid Cameras with ORB_SLAM2
                MajdSr

                Hi,

                 

                 

                 

                ORB slam with the fisheye should work on Euclid, you can see the calibration data under /euclid/config/calibration<something>  .. i don't remember the file name but it does start with calibration

                 

                Best,

                Majd

                1 of 1 people found this helpful
                • 5. Re: ZR300/Eulid Cameras with ORB_SLAM2
                  SubMarIn

                  Hi,

                  Thanks for your response.

                  I have a few more questions.

                   

                  1. Any reasons for prefering fisheye cams above the color camera? Till now I was using the color camera.

                  2. Do you think that I need to calibrate the camera before using them, or I can rely on the factory set config values?

                  3. What is the perpendicular distance between the fisheye camera centre and the IR projector?

                   

                  Regards,

                  Subodh.

                  • 6. Re: ZR300/Eulid Cameras with ORB_SLAM2
                    MajdSr

                    Hi,

                     

                    1. the RGB camera has a rolling shutter, and the fisheye is global shutter, so if you are moving really slow, rolling shutter should be fine. Moreover, the fisheye camera gives you a much wider field of view with more features (ORB features are grayscale if i remember correctly).

                    2. No need, the factory calibration under the config should be more than enough

                    3. from the config, look at the depth, that is the distance between left IR and fisheye.

                     

                    Best,

                    Majd

                    • 7. Re: ZR300/Eulid Cameras with ORB_SLAM2
                      SubMarIn

                      Thanks a lot! since I don't have the  Euclid device with me now and I have wait until Monday morning to check this, could you please tell me if these config files are available online in the GitHub? I have some bag files and I can try running orb_slam if I find these configs,

                      • 8. Re: ZR300/Eulid Cameras with ORB_SLAM2
                        SubMarIn

                        Hi,

                        How and where can I access this /euclid/config folder? I am not able to find it after I ssh into the euclid device.

                        • 9. Re: ZR300/Eulid Cameras with ORB_SLAM2
                          MajdSr

                          it should be on the device .. ? cd /euclid/config from terminal

                          and I don't think the calibration file is available online .. as it differs from device to device ..

                          • 10. Re: ZR300/Eulid Cameras with ORB_SLAM2
                            SubMarIn

                            No it isnt, I get this is output when I try to cd the desired folder.

                             

                            -bash: cd: /euclid/config: No such file or directory

                            • 11. Re: ZR300/Eulid Cameras with ORB_SLAM2
                              MajdSr

                              Sorry my bad it's /intel/euclid/config

                              path: /intel/euclid/config/calibrationResult.json

                              • 12. Re: ZR300/Eulid Cameras with ORB_SLAM2
                                SubMarIn

                                Hi,

                                 

                                This is the data contained in the file u have mentioned above..

                                 

                                "Cx": 318.57716080833916,

                                    "Cy": 235.615443920609,

                                    "Fx": 255.9401958615271,

                                    "Fy": 255.92336579003057,

                                    "Kw": 0.920654096071996,

                                    "Rot0": 0.99997449999999999,

                                    "Rot1": -0.001940478,

                                    "Rot2": 0.0068709000000000001,

                                    "Rot3": 0.001990323,

                                    "Rot4": 0.99997170000000002,

                                    "Rot5": -0.0072550519999999997,

                                    "Rot6": -0.006856628,

                                    "Rot7": 0.0072685429999999997,

                                    "Rot8": 0.99995009999999995,

                                    "Tc0": 0.006854383248580051,

                                    "Tc1": 0.0022766429192643835,

                                    "Tc2": 3.0451596814177475e-05,

                                    "TcVar0": 9.999999974752427e-07,

                                    "TcVar1": 9.999999974752427e-07,

                                    "TcVar2": 9.999999974752427e-07,

                                    "Wc0": -0.007261923014907566,

                                    "Wc1": -0.006863882516608069,

                                    "Wc2": -0.0019654345076159587,

                                    "WcVar0": 9.999999974752427e-07,

                                    "WcVar1": 9.999999974752427e-07,

                                    "WcVar2": 9.999999974752427e-07,

                                    "aMeasVar": 0.0049984899999999995,

                                    "abias0": 0.3556473140718861,

                                    "abias1": 0.2170348728970497,

                                    "abias2": -0.31102952411162893,

                                    "abiasvar0": 0.02,

                                    "abiasvar1": 0.02,

                                    "abiasvar2": 0.02,

                                    "accelerometerTransform": [

                                        1.0142311684647092,

                                        0.0,

                                        0.0,

                                        0.0,

                                        1.0068883384978153,

                                        0.0,

                                        0.0,

                                        0.0,

                                        1.009879595867468

                                    ],

                                    "calibrationVersion": 8,

                                    "depth": {

                                        "Cx": 159.5,

                                        "Cy": 119.252,

                                        "Fx": 309.86930000000001,

                                        "Fy": 309.86930000000001,

                                        "Rot0": 0.99963380000000002,

                                        "Rot1": -0.0013361169999999999,

                                        "Rot2": 0.027026109999999999,

                                        "Rot3": 0.0032428719999999999,

                                        "Rot4": 0.99749719999999997,

                                        "Rot5": -0.070632120000000007,

                                        "Rot6": -0.026864099999999998,

                                        "Rot7": 0.070693889999999995,

                                        "Rot8": 0.99713620000000003,

                                        "Tc0": 0.037866219999999999,

                                        "Tc1": -0.00069206010000000002,

                                        "Tc2": -0.0019116319999999999,

                                        "TcVar0": 9.999999974752427e-07,

                                        "TcVar1": 9.999999974752427e-07,

                                        "TcVar2": 1.000000013351432e-10,

                                        "Wc0": 0.070730598429258093,

                                        "Wc1": 0.026970880602730781,

                                        "Wc2": 0.0022916843805895031,

                                        "WcVar0": 9.999999974752427e-07,

                                        "WcVar1": 9.999999974752427e-07,

                                        "WcVar2": 9.999999974752427e-07,

                                        "distortionModel": 0,

                                        "imageHeight": 240,

                                        "imageWidth": 320

                                    },

                                    "device": "Alloy",

                                    "distortionModel": 1,

                                    "gyroscopeTransform": [

                                        1.005005262995675,

                                        0.0,

                                        0.0,

                                        0.0,

                                        1.0180072575288375,

                                        0.0,

                                        0.0,

                                        0.0,

                                        1.0012451727595397

                                    ],

                                    "imageHeight": 480,

                                    "imageWidth": 640,

                                    "wMeasVar": 0.00019993959999999999,

                                    "wbias0": -0.0033792282090512387,

                                    "wbias1": -0.002028714688184263,

                                    "wbias2": -0.00690673371777983,

                                    "wbiasvar0": 1.136220313356222e-06,

                                    "wbiasvar1": 1.136220313356222e-06,

                                    "wbiasvar2": 1.136220313356222e-06

                                }

                                 

                                Although I could extract the camera parameters, fx, fy, cx, cy and kw.. I still don't know what is the value of the baseline between the fisheye camera and the projector. But I measured it myself using a ruler and its approximately about 8.15 cm. Correct me if I am wrong?

                                 

                                Besides this, I wanted to know the fps of the fisheye camera.. in the datasheets it is mentioned that the fps is 5,30,60.. but how can I know which fps does it currently have.

                                 

                                Thanks for your time.

                                 

                                Regards,

                                S.

                                • 13. Re: ZR300/Eulid Cameras with ORB_SLAM2
                                  MajdSr

                                  Hi,

                                   

                                  You can see in the known issues, that the fps of the fisheye is now 30 (rostopic hz /camera/fisheye/image_raw )

                                  Regarding the translation, under depth: {

                                     "Tc0": 0.037866219999999999,

                                          "Tc1": -0.00069206010000000002,

                                          "Tc2": -0.0019116319999999999,

                                  }

                                  those are the translations between the fisheye and left IR camera (left = the one closer to the fisheye), so it is 0.0378662 in your case..

                                   

                                  Best,

                                  Majd

                                  • 14. Re: ZR300/Eulid Cameras with ORB_SLAM2
                                    SubMarIn

                                    Thanks! I forgot to check the known issues before posting the query.

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