Re: stereo example

Posted by noone on Oct 17, 2024; 8:04pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/stereo-example-tp10512p10571.html

take your time


changing the projection of the right yaml to :

projection_matrix:
    rows: 3
    cols: 4
    data: [ 1.056, 0.001, 0.953, -0.062495,
            0.005, 1.047, 0.537, 0.165,
            0.0, 0.0, 0.001, 0.0 ]

and it printed the following then open the left and right  and crash  , but the baseline is correct in meters its like 59 mm so its a good sing


C:\rtabmap\build\bin>C:\rtabmap\build\bin\rtabmap-rgbd_mapping.exe
Using single stereo camera (device=0)
Camera initialized successfully
Stereo model:
  Baseline: 0.059181
  Left  fx: 1.050700, fy: 1.052500, cx: 0.966900, cy: 0.538600
  Right fx: 1.056000, fy: 1.047000, cx: 0.953000, cy: 0.537000
  Image size: 1920x1080
Press ESC to quit, 'r' to start/stop recording.
[ WARN] (2024-10-17 22:56:22) OdometryF2M.cpp:565::rtabmap::OdometryF2M::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=80) between -1 and 2"
[ WARN] (2024-10-17 22:56:25) OdometryF2M.cpp:565::rtabmap::OdometryF2M::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=79) between -1 and 3"