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Bad stereo mapping in RTABmap

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

EdwardNur gravatar image


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

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Why is that? I have also recorded the bag:

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

matlabbe gravatar image

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


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


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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?

EdwardNur gravatar image EdwardNur  ( 2019-03-23 13:19:23 -0600 )edit

answered 2019-08-08 11:21:52 -0600

Just to let you know ROS doesn't support fisheye camera calibration and fisheye image proc pipeline

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

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Last updated: Mar 22 '19