applying distortion model does not have effect

[aerydna]

 applying the distortion model in the rtabmap standalone application does not effect in any sort of way  the generated cloud map. by switching to a dummy file and back to the distortion_model.bin i don't see any changes... maybe the calibration i've done is not very good but i expect to see at least some point position changes when i apply the distortion model.. instead, nothing changes. any idea?

[matlabbe]

Is this tutorial working on your computer? https://github.com/introlab/rtabmap/wiki/Depth-Calibration

[aerydna]

well.. it works exept that i don't see any changes.. nor in my calibration by applying the distortion model inside the source at the example database of the tutorial... simply giving the distortion_model.bin to rtabmap application doesn't have any effect

[matlabbe]

Hi,

The effects are subtil and seen better when showing points over 4 meters against a straight wall. Here on left is the point cloud "142" of the database of the tutorial. When doing Edit->View Point Cloud while setting the distortion model, the result is on the right (look how the red wall is more straight).


I tested also the distortion model when is set in Preferences->Source panel and replaying the database as source. Here is the generated point cloud "142", which is the same as on the right above.


cheers,
Mathieu