Re: stereo example

Posted by noone on Oct 17, 2024; 1:29pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/stereo-example-tp10512p10560.html

the images are not rectified but they pass then get rectified check my code please

https://pastebin.com/emTefuu0

white ceiling why ?

because my room is messy and full of prototypes and stuff  so its embarrassing so i showed you the ceiling as a prove it works lol


why rectification matrixs are Identity ?
i did run the binary i wrote the fx fy cx cy and baseline then it generated the yamls , why i did that ?
to know what format of rtab map without keep digging in the lib because its massive
so from that moment i thought my rectifications matrixs is like that so i did not think much about it  and maybe thats the thing that cause the problem but there is no o additional rotation or transformation left and right thats why its almost zero

1- i will record a video for you
2- i will try change the rectification matrixs
3- i have a question now ,  check my code i shared with you the link  now early i did not pass the yamls but after reading your NOTE : i thought maybe the rectificated images does not pass to RTAB map or the yamls ?  so i did this change , so my question is now it asks for 6 yamls ,

00000001_left.yaml
00000001_right.yaml
00000001_pose.yaml

and the
left_m.yaml
right_m.yaml
pose_m.yaml

so the question is , is it wrong to pass it like this ?



    if (camera->init("C:/rtabmap/build/bin", "m"))
    {
        printf("Camera initialized successfully\n");

        // Cast to CameraStereoVideo to access stereo-specific methods
        CameraStereoVideo* stereoCamera = dynamic_cast<CameraStereoVideo*>(camera);
        if (stereoCamera)
        {
            const StereoCameraModel& model = stereoCamera->getStereoModel();
            printf("Stereo model:\n");
            printf("  Baseline: %f\n", model.baseline());
            printf("  Left  fx: %f, fy: %f, cx: %f, cy: %f\n",
                model.left().fx(), model.left().fy(), model.left().cx(), model.left().cy());
            printf("  Right fx: %f, fy: %f, cx: %f, cy: %f\n",
                model.right().fx(), model.right().fy(), model.right().cx(), model.right().cy());
            printf("  Image size: %dx%d\n", model.left().imageWidth(), model.left().imageHeight());
        }
        else
        {
            printf("Error: Camera is not a stereo camera\n");
        }
    }
    else
    {
        printf("Camera init failed!\n");
        delete camera;
        return -1;
    }




%YAML:1.0
---
camera_name: m_right
image_width: 1920
image_height: 1080
camera_matrix:
  rows: 3
  cols: 3
  data: [ 1.0453382000000000e+03, 0., 9.6497390000000005e+02,
          0., 1.0471505000000000e+03, 5.3710910000000004e+02,
          0., 0., 1. ]
distortion_coefficients:
  rows: 1
  cols: 4
  data: [ 2.41e-02, -3.05e-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: [ 1.0453382000000000e+03, 0., 9.6497390000000005e+02, 0.,
          0., 1.0471505000000000e+03, 5.3710910000000004e+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: [ 0.00095, 0.00002, -0.00003,
          -0.00002, 0.00097, 0.00001,
          0.00003, -0.00001, 0.00098 ]
fundamental_matrix:
  rows: 3
  cols: 3
  data: [ 0.0002, -0.0004, 0.005,
          0.0004, 0.0001, -0.006,
          -0.005, 0.006, 1.0 ]



///////////////////////////////////////////////////


%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 ]