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rtabmap: t265 fisheye images instead of zed stereo images

asked 2020-02-03 01:26:16 -0500

june2473 gravatar image

I want to test rtabmap with t265 fisheye images as input.

I suppose I cant just put topics from t265 camera instead of zed topics in rtabmap.launch because zed camera's physical parameters differs from t265. Or can I?

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answered 2020-02-03 15:56:47 -0500

matlabbe gravatar image

Yes, it is possible, but with an extra step to do stereo fisheye calibration. See this post for details: http://official-rtab-map-forum.67519....

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I tried! https://yadi.sk/i/mxX-B_XGjkOkJg what do you think?

there I am using t265 visual odometry provided by Intel, dont think it would be better using rtabmap's visual odometry?

june2473 gravatar image june2473  ( 2020-02-11 05:59:56 -0500 )edit

I didn't do exhaustive tests, but it seems that T265 odometry is quite good... in good conditions, while being computed onboard of the camera. You can look at this post: http://official-rtab-map-forum.67519...., in particular this video (using rtabmap odometry with T265) https://www.youtube.com/watch?v=Tm8nt... and this one (using t265 odometry) https://www.youtube.com/watch?v=FwmNH....

matlabbe gravatar image matlabbe  ( 2020-02-20 17:43:17 -0500 )edit

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Asked: 2020-02-03 01:26:16 -0500

Seen: 72 times

Last updated: Feb 03