Query on Camera Configuration Parameters

[animesh-singhal]

Context: Implementing Orbeez-SLAM with a custom dataset.

Issues for Clarification:

1. IR Projector Baseline in Camera Specifications

• In the RGB-D config format, there's a parameter bf, calculated as 'IR projector baseline times fx (approx.)'. Is this 'IR projector baseline' the same as the 'baseline' parameter in Intel RealSense cameras, like the Depth Camera D415?
• What units should bf, baseline, and fx be in?

2. Depth Parameter 'ThDepth'

• The documentation mentions 'ThDepth' as 'Baseline times', but it's unclear what this refers to. Could you provide more information on how the close/far threshold for 'ThDepth' is calculated?

3. Calculating DepthMapFactor

• The guide indicates 'DepthMapFactor' as (DepthImageValue/RealDepthValue), depending on the dataset. For a custom video stream used to generate RGB and depth images, how should 'DepthMapFactor' be determined?

Looking forward to your support to ensure successful implementation with my dataset.

Thank you for your support.