How can I process my own video using ORB SLAM2?
Author: Nish160Created Dec 7, 2017Updated Apr 22, 2025
I have taken a video of my desk from mobile phone- Redmi note 4G , Model number-HM NOTE 1LTE. I have converted the video into a stream of images(.png). I thought I would have to just save it into folder /cam3/data and write a timestamp file Examples/Monocular/EuRoC_TimeStamps/sample.txt But in order to make changes in the Examples/Monocular/EuRoC.yaml file I need to know the following:
Camera.fx Camera.fy Camera.cx Camera.cy Camera.k1 Camera.k2 Camera.p1 Camera.p2 Camera.fps
Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB:
My question is how and from where can I know all this information about my mobile phone camera??
The documentation states the following:
"8. Processing your own sequences You will need to create a settings file with the calibration of your camera. See the settings file provided for the TUM and KITTI datasets for monocular, stereo and RGB-D cameras. We use the calaibration model of OpenCV. See the examples to learn how to create a program that makes use of the ORB-SLAM2 library and how to pass images to the SLAM system. Stereo input must be synchronized and rectified. RGB-D input must be synchronized and depth registered."
But I am still not able to find out the camera calibration parameters.
Any help regarding this is appreciated.
Source: raulmur/ORB_SLAM2