Re: stereo example
Posted by noone on Oct 15, 2024; 12:21pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/stereo-example-tp10512p10544.html
i updated the CameraStereoVideo cpp and header so i can have more control over the camera communication thanks for your guide
, i think i have calibration problem or i am doing something wrong
[ WARN] (2024-10-15 15:02:28) OdometryF2M.cpp:1269::rtabmap::OdometryF2M::computeTransform() 20 visual features required to initialize the odometry (only 0 extracted).
i get this warning and i see only red color in the 3D window ( dense cloud ) anyway the camera working smooth , maybe i wrote something wrong in the yamls ?
may you check my calibrations ? NOTE: i converted to meters because matlab used mm
why i did not use the calibration app ? because it gives me low resolution images and it cant detect anything i dont know why and it crashes when i unlock calibration then press calibration
Matlab calibration prints more than 20 images , i tested them they works 100 %
Camera 1 Intrinsics
-------------------
Focal length (pixels): [ 1050.7460 +/- 0.3417 1052.5362 +/- 0.3286 ]
Principal point (pixels):[ 966.8852 +/- 0.1482 538.5527 +/- 0.1402 ]
Radial distortion: [ 0.0255 +/- 0.0003 -0.0316 +/- 0.0004 ]
Camera 2 Intrinsics
-------------------
Focal length (pixels): [ 1045.3382 +/- 0.3377 1047.1505 +/- 0.3232 ]
Principal point (pixels):[ 964.9739 +/- 0.1513 537.1091 +/- 0.1499 ]
Radial distortion: [ 0.0241 +/- 0.0003 -0.0305 +/- 0.0003 ]
Position And Orientation of Camera 2 Relative to Camera 1
---------------------------------------------------------
Rotation of camera 2: [ 0.0000 +/- 0.0001 0.0114 +/- 0.0001 0.0013 +/- 0.0000 ]
Translation of camera 2 (millimeters):[ -59.8172 +/- 0.0088 0.1399 +/- 0.0077 0.0350 +/- 0.0301 ]
Fundamental Matrix:
-0.0000 -0.0000 0.0002
-0.0000 0.0000 0.0577
0.0001 -0.0568 -0.3288
Essential Matrix:
-0.0016 -0.0350 0.1399
-0.6489 0.0006 59.8137
-0.2168 -59.8170 -0.0018
Projection Matrix for Camera 1:
1.0e+03 *
1.0507 0 0.9669 0
0 1.0525 0.5386 0
0 0 0.0010 0
Projection Matrix for Camera 2:
1.0e+04 *
0.1056 0.0001 0.0953 -6.2495
0.0005 0.1047 0.0537 0.0165
0.0000 0.0000 0.0001 0.0000
the pose yaml
%YAML:1.0
---
camera_name: m_pose
rotation_matrix:
rows: 3
cols: 3
data: [ 1.0000, 0.0000, 0.0000,
0.0114, 1.0000, 0.0013,
-0.0013, -0.0114, 1.0000 ]
translation_matrix:
rows: 3
cols: 1
data: [ -0.0598172, 0.0001399, 0.0000350 ] # Converted from mm to m
essential_matrix:
rows: 3
cols: 3
data: [ -0.0000016, -0.0000350, 0.0001399,
-0.0006489, 0.0000006, 0.0598137,
-0.0002168, -0.0598170, -0.0000018 ]
fundamental_matrix:
rows: 3
cols: 3
data: [ -0.0000, -0.0000, 0.0002,
-0.0000, 0.0000, 0.0577,
0.0001, -0.0568, -0.3288 ]
the left yaml
%YAML:1.0
---
camera_name: m_left
image_width: 1920
image_height: 1080
camera_matrix:
rows: 3
cols: 3
data: [ 1.0507460000000001e+03, 0., 9.6688520000000005e+02,
0., 1.0525362000000000e+03, 5.3855269999999996e+02,
0., 0., 1. ]
distortion_coefficients:
rows: 1
cols: 4
data: [ 2.55e-02, -3.16e-02, 0., 0. ]
distortion_model: plumb_bob
rectification_matrix:
rows: 3
cols: 3
data: [ 1., 0., 0.,
0., 1., 0.,
0., 0., 1. ]
projection_matrix:
rows: 3
cols: 4
data: [ 1.0507460000000001e+03, 0., 9.6688520000000005e+02, 0.,
0., 1.0525362000000000e+03, 5.3855269999999996e+02, 0.,
0., 0., 1., 0. ]
local_transform:
rows: 3
cols: 4
data: [ 0., 0., 1., 0., -1., 0., 0., 0., 0., -1., 0., 0. ]
essential_matrix:
rows: 3
cols: 3
data: [ -0.0000016, -0.0000350, 0.0001399,
-0.0006489, 0.0000006, 0.0598137,
-0.0002168, -0.0598170, -0.0000018 ]
fundamental_matrix:
rows: 3
cols: 3
data: [ -0.0000, -0.0000, 0.0002,
-0.0000, 0.0000, 0.0577,
0.0001, -0.0568, -0.3288 ]
URL: http://official-rtab-map-forum.206.s1.nabble.com/stereo-example-tp10512p10544.html
i updated the CameraStereoVideo cpp and header so i can have more control over the camera communication thanks for your guide
, i think i have calibration problem or i am doing something wrong
[ WARN] (2024-10-15 15:02:28) OdometryF2M.cpp:1269::rtabmap::OdometryF2M::computeTransform() 20 visual features required to initialize the odometry (only 0 extracted).
i get this warning and i see only red color in the 3D window ( dense cloud ) anyway the camera working smooth , maybe i wrote something wrong in the yamls ?
may you check my calibrations ? NOTE: i converted to meters because matlab used mm
why i did not use the calibration app ? because it gives me low resolution images and it cant detect anything i dont know why and it crashes when i unlock calibration then press calibration
Matlab calibration prints more than 20 images , i tested them they works 100 %
Camera 1 Intrinsics
-------------------
Focal length (pixels): [ 1050.7460 +/- 0.3417 1052.5362 +/- 0.3286 ]
Principal point (pixels):[ 966.8852 +/- 0.1482 538.5527 +/- 0.1402 ]
Radial distortion: [ 0.0255 +/- 0.0003 -0.0316 +/- 0.0004 ]
Camera 2 Intrinsics
-------------------
Focal length (pixels): [ 1045.3382 +/- 0.3377 1047.1505 +/- 0.3232 ]
Principal point (pixels):[ 964.9739 +/- 0.1513 537.1091 +/- 0.1499 ]
Radial distortion: [ 0.0241 +/- 0.0003 -0.0305 +/- 0.0003 ]
Position And Orientation of Camera 2 Relative to Camera 1
---------------------------------------------------------
Rotation of camera 2: [ 0.0000 +/- 0.0001 0.0114 +/- 0.0001 0.0013 +/- 0.0000 ]
Translation of camera 2 (millimeters):[ -59.8172 +/- 0.0088 0.1399 +/- 0.0077 0.0350 +/- 0.0301 ]
Fundamental Matrix:
-0.0000 -0.0000 0.0002
-0.0000 0.0000 0.0577
0.0001 -0.0568 -0.3288
Essential Matrix:
-0.0016 -0.0350 0.1399
-0.6489 0.0006 59.8137
-0.2168 -59.8170 -0.0018
Projection Matrix for Camera 1:
1.0e+03 *
1.0507 0 0.9669 0
0 1.0525 0.5386 0
0 0 0.0010 0
Projection Matrix for Camera 2:
1.0e+04 *
0.1056 0.0001 0.0953 -6.2495
0.0005 0.1047 0.0537 0.0165
0.0000 0.0000 0.0001 0.0000
the pose yaml
%YAML:1.0
---
camera_name: m_pose
rotation_matrix:
rows: 3
cols: 3
data: [ 1.0000, 0.0000, 0.0000,
0.0114, 1.0000, 0.0013,
-0.0013, -0.0114, 1.0000 ]
translation_matrix:
rows: 3
cols: 1
data: [ -0.0598172, 0.0001399, 0.0000350 ] # Converted from mm to m
essential_matrix:
rows: 3
cols: 3
data: [ -0.0000016, -0.0000350, 0.0001399,
-0.0006489, 0.0000006, 0.0598137,
-0.0002168, -0.0598170, -0.0000018 ]
fundamental_matrix:
rows: 3
cols: 3
data: [ -0.0000, -0.0000, 0.0002,
-0.0000, 0.0000, 0.0577,
0.0001, -0.0568, -0.3288 ]
the left yaml
%YAML:1.0
---
camera_name: m_left
image_width: 1920
image_height: 1080
camera_matrix:
rows: 3
cols: 3
data: [ 1.0507460000000001e+03, 0., 9.6688520000000005e+02,
0., 1.0525362000000000e+03, 5.3855269999999996e+02,
0., 0., 1. ]
distortion_coefficients:
rows: 1
cols: 4
data: [ 2.55e-02, -3.16e-02, 0., 0. ]
distortion_model: plumb_bob
rectification_matrix:
rows: 3
cols: 3
data: [ 1., 0., 0.,
0., 1., 0.,
0., 0., 1. ]
projection_matrix:
rows: 3
cols: 4
data: [ 1.0507460000000001e+03, 0., 9.6688520000000005e+02, 0.,
0., 1.0525362000000000e+03, 5.3855269999999996e+02, 0.,
0., 0., 1., 0. ]
local_transform:
rows: 3
cols: 4
data: [ 0., 0., 1., 0., -1., 0., 0., 0., 0., -1., 0., 0. ]
essential_matrix:
rows: 3
cols: 3
data: [ -0.0000016, -0.0000350, 0.0001399,
-0.0006489, 0.0000006, 0.0598137,
-0.0002168, -0.0598170, -0.0000018 ]
fundamental_matrix:
rows: 3
cols: 3
data: [ -0.0000, -0.0000, 0.0002,
-0.0000, 0.0000, 0.0577,
0.0001, -0.0568, -0.3288 ]
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