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I am trying to use RTAB-Map ROS with a stereo camera pair simulated in Gazebo. I'm passing --uinfo to the rtabmap node, and the node keeps printing these error messages:
[ERROR] (2020-05-09 12:25:44.055) Memory.cpp:4015::createSignature() Camera calibration not valid, calibrate your camera! [ERROR] (2020-05-09 12:25:44.055) Memory.cpp:788::update() Failed to create a signature... I created calibration YAML files for both cameras, and $HOME/.rtabmap/rtabmap.ini contains a reference to the right one, but I still get the errors. |
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Can you show both calibration files? Note that rtabmap_ros doesn't use parameters in ~/.rtabmap/rtabmap.ini, this file is used by the standalone version. Can you show the left and right camera_info topics published by Gazebo?
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calib_left.yaml:
%YAML:1.0 --- camera_name: calib_left image_width: 640 image_height: 480 camera_matrix: rows: 3 cols: 3 data: [ 3.8136250000000001e+02, 0., 3.2050000000000000e+02, 0., 3.8136250000000001e+02, 2.4050000000000000e+02, 0., 0., 1. ] calib_right.yaml: %YAML:1.0 --- camera_name: calib_right image_width: 640 image_height: 480 camera_matrix: rows: 3 cols: 3 data: [ 3.8136250000000001e+02, 0., 3.2050000000000000e+02, 0., 3.8136250000000001e+02, 2.4050000000000000e+02, 0., 0., 1. ] projection_matrix: rows: 3 cols: 4 data: [ 3.8136250000000001e+02, 0., 3.2050000000000000e+02, -1.5729372584999999e+02, 0., 3.8136250000000001e+02, 2.4050000000000000e+02, 0., 0., 0., 1., 0. ] Left camera info: header: seq: 16 stamp: secs: 40 nsecs: 110000000 frame_id: "scout_1_tf/left_camera_optical" height: 480 width: 640 distortion_model: "plumb_bob" D: [0.0, 0.0, 0.0, 0.0, 0.0] K: [381.36246688113556, 0.0, 320.5, 0.0, 381.36246688113556, 240.5, 0.0, 0.0, 1.0] R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] P: [381.36246688113556, 0.0, 320.5, -157.29401728003162, 0.0, 381.36246688113556, 240.5, 0.0, 0.0, 0.0, 1.0, 0.0] binning_x: 0 binning_y: 0 roi: x_offset: 0 y_offset: 0 height: 0 width: 0 do_rectify: False Right camera_info: header: seq: 20 stamp: secs: 98 nsecs: 760000000 frame_id: "scout_1_tf/right_camera_optical" height: 480 width: 640 distortion_model: "plumb_bob" D: [0.0, 0.0, 0.0, 0.0, 0.0] K: [381.36246688113556, 0.0, 320.5, 0.0, 381.36246688113556, 240.5, 0.0, 0.0, 1.0] R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] P: [381.36246688113556, 0.0, 320.5, -157.29401728003162, 0.0, 381.36246688113556, 240.5, 0.0, 0.0, 0.0, 1.0, 0.0] binning_x: 0 binning_y: 0 roi: x_offset: 0 y_offset: 0 height: 0 width: 0 do_rectify: False |
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In reply to this post by matlabbe
> Note that rtabmap_ros doesn't use parameters in ~/.rtabmap/rtabmap.ini,
How do I tell the rtabmap node where to look for camera calibration files? |
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rtabmap node subscribes to to camera info.
The error is coming from here: if(!data.depthOrRightRaw().empty() && data.cameraModels().size() == 0 && !data.stereoCameraModel().isValidForProjection() && !pose.isNull()) { UERROR("Camera calibration not valid, calibrate your camera!"); return 0; }In your left camera_info, P(0,3) should be 0, not -157.29401728003162 |
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Thank you!
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