T265 stereo config

[ryleymcc]

I have been trying to get better tracking with my t265 stereo camera. I think I am doing something wrong with the config file because the camera pose does not always move properly. Hopefully someone can point out what I'm doing wrong. I have added the intrinsics and extrinsics from linrealsense and rtabmap stereo calibration/ rectification

#==============#
# Camera Model #
#==============#

Camera:
  name: "RealSense T265"
  setup: "stereo"
  model: "fisheye"

  fx: 504.06574113820596
  fy: 504.06574113820596
  cx: 434.12909126281738
  cy: 345.42371940612793

  k1: 0
  k2: 0
  k3: 0
  k4: 0
  p1: 0
  p2: 0

  fps: 30.0
  cols: 848
  rows: 800

  focal_x_baseline: 32.764225

  color_order: "Gray"

#======================#
# Stereo Rectification #
#======================#

# original intrinsic parameters (K, D) and stereo-recitification parameters (R)
# matrices (K, R) are written in row-major order

StereoRectifier:
  K_left: [286.6408996582031, 0.0, 429.8493957519531, 0.0, 286.5458068847656, 393.5089111328125, 0.0, 0.0, 1.0]
  D_left: [-0.011200119741261005, 0.05016331002116203, -0.04697997868061066, 0.0091929966583848, 0.0]
  R_left: [9.9999809020842290e-01, 1.9543744540909212e-03, 0.,
       -1.9543744540909212e-03, 9.9999809020842290e-01, 0., 0., 0., 1.]
  K_right: [286.157, 0.0, 423.534, 0.0, 286.008, 401.768, 0.0, 0.0, 1.0]
  D_right: [-0.00927463,0.0461914,-0.043395,0.00802249,0]

  R_right: [9.9999824795411607e-01, 1.8719211249596192e-03, 0.,
       -1.8719211249596194e-03, 9.9999824795411607e-01, 0., 0., 0., 1.]

 #======================#
# Taken from rs-sensor-control 
#fisheye1
#Principal Point         : 429.849, 393.509
#Focal Length            : 286.641, 286.546
#Distortion Model        : Kannala Brandt4
#Distortion Coefficients : [-0.0112001,0.0501633,-0.04698,0.009193,0]

#fisheye2
#Principal Point         : 423.534, 401.768
#Focal Length            : 286.157, 286.008
#Distortion Model        : Kannala Brandt4
#Distortion Coefficients : [-0.00927463,0.0461914,-0.043395,0.00802249,0]

#fisheye1>fisheye2
#Translation Vector : [-0.0640212,-0.000119843,-8.24535e-05]
#Rotation Matrix    : [0.999973,0.00361533,-0.00632303]
#                   : [-0.00360718,0.999993,0.00130074]
#                  : [0.00632768,-0.0012779,0.999979]
     
#fisheye2>fisheye1
#Translation Vector : [0.0640196,0.000351195,-0.0003222]
#Rotation Matrix    : [0.999973,-0.00360718,0.00632768]
#                   : [0.00361533,0.999993,-0.0012779]
#                   : [-0.00632303,0.00130074,0.999979]
#======================#
# Taken from rtabmap
# ---
#camera_name: t265_rtab_left
#image_width: 848
#image_height: 800
#camera_matrix:
#   rows: 3
#   cols: 3
#   data: [ 2.8664100000000002e+02, 0., 4.2984899999999999e+02, 0.,
#       2.8654599999999999e+02, 3.9350900000000001e+02, 0., 0., 1. ]
#distortion_coefficients:
#   rows: 1
#   cols: 5
#   data: [ -1.1200099999999999e-02, 5.0163300000000001e-02,
#       -4.6980000000000001e-02, 9.1929999999999998e-03, 0. ]
#distortion_model: plumb_bob
#rectification_matrix:
#   rows: 3
#   cols: 3
#   data: [ 9.9999809020842290e-01, 1.9543744540909212e-03, 0.,
#       -1.9543744540909212e-03, 9.9999809020842290e-01, 0., 0., 0., 1. ]
#projection_matrix:
#   rows: 3
#   cols: 4
#   data: [ 5.0406574113820596e+02, 0., 4.3412909126281738e+02, 0., 0.,
#       5.0406574113820596e+02, 3.4542371940612793e+02, 0., 0., 0., 1.,
#      0. ]
# ---
# ---
#camera_name: t265_rtab_right
#image_width: 848
#image_height: 800
#camera_matrix:
#   rows: 3
#   cols: 3
#   data: [ 2.8615699999999998e+02, 0., 4.2353399999999999e+02, 0.,
#       2.8600799999999998e+02, 4.0176799999999997e+02, 0., 0., 1. ]
#distortion_coefficients:
#   rows: 1
#   cols: 5
#   data: [ -9.2746300000000007e-03, 4.6191400000000001e-02,
#       -4.3395000000000003e-02, 8.0224900000000002e-03, 0. ]
#distortion_model: plumb_bob
#rectification_matrix:
#   rows: 3
#   cols: 3
#   data: [ 9.9999824795411607e-01, 1.8719211249596192e-03, 0.,
#       -1.8719211249596194e-03, 9.9999824795411607e-01, 0., 0., 0., 1. ]
#projection_matrix:
#   rows: 3
#   cols: 4
#   data: [ 5.0406574113820596e+02, 0., 4.3412909126281738e+02,
#       -3.2270968915267993e+01, 0., 5.0406574113820596e+02,
#       3.4542371940612793e+02, 0., 0., 0., 1., 0. ]
# ---
#camera_name: t265_rtab_right
#image_width: 848
#image_height: 800
#camera_matrix:
#   rows: 3
#   cols: 3
#   data: [ 2.8615699999999998e+02, 0., 4.2353399999999999e+02, 0.,
#       2.8600799999999998e+02, 4.0176799999999997e+02, 0., 0., 1. ]
#distortion_coefficients:
#   rows: 1
#   cols: 5
#   data: [ -9.2746300000000007e-03, 4.6191400000000001e-02,
#       -4.3395000000000003e-02, 8.0224900000000002e-03, 0. ]
#distortion_model: plumb_bob
#rectification_matrix:
#   rows: 3
#   cols: 3
#   data: [ 9.9999824795411607e-01, 1.8719211249596192e-03, 0.,
#       -1.8719211249596194e-03, 9.9999824795411607e-01, 0., 0., 0., 1. ]
#projection_matrix:
#   rows: 3
#   cols: 4
#   data: [ 5.0406574113820596e+02, 0., 4.3412909126281738e+02,
#       -3.2270968915267993e+01, 0., 5.0406574113820596e+02,
3       3.4542371940612793e+02, 0., 0., 0., 1., 0. ]
# ---
#=====================#
# Tracking Parameters #
#=====================#

Tracking:
  max_num_keypoints: 2000

#================#
# orb parameters #
#================#

Feature:
  scale_factor: 1.3
  num_levels: 8
  ini_fast_threshold: 20
  min_fast_threshold: 7

#========================#
# Initializer Parameters #
#========================#

Initializer:
  scaling_factor: 1

#====================#
# Mapping Parameters #
#====================#

Mapping:
  baseline_dist_thr_ratio: 0.02

[ymd-stella]

If you can provide a dataset, I might be able to help.