Bad stereo mapping in RTABmap

asked 2019-03-18 03:34:55 -0600

EdwardNur

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Hi,

I have a stereo camera, Intel T265 and I am getting strange stereo map:

image description

Why is that? I have also recorded the bag: https://drive.google.com/file/d/1sjh1...

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answered 2019-03-22 19:40:29 -0600

matlabbe

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rtabmap requires rectified stereo images as input. There are a lot of right images missing from the bag, but I'm still able to try stereo_image_proc to rectify the images:

$ rosrun stereo_image_proc stereo_image_proc /left/image_raw:=/camera/fisheye1/image_raw /left/camera_info:=/camera/fisheye1/camera_info /right/image_raw:=/camera/fisheye2/image_raw /right/camera_info:=/camera/fisheye2/camera_info

Raw:

image description

Rectified:

image description

As you can see, the rectification doesn't work with the current calibration info. Here is a tutorial to calibrate stereo cameras: http://wiki.ros.org/camera_calibratio...

cheers,
Mathieu

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@matlabbe Hi thank you, I already figured this out but gave up on a camera for a while as calibrating was not perfect. Meanwhile, can you have a look at my new question? https://answers.ros.org/question/3193...