Re: stereo example

Posted by noone on Oct 18, 2024; 5:18pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/stereo-example-tp10512p10581.html

C:\rtabmap\build\bin>C:\rtabmap\build\bin\rtabmap-rgbd_mapping.exe
Using single stereo camera (device=0)
Camera initialized successfully
Stereo model:
  Baseline: 0.059000
  Left  fx: 1169.041067, fy: 1169.041067, cx: 809.218430, cy: 549.442814
  Right fx: 1169.041067, fy: 1169.041067, cx: 809.218430, cy: 549.442814
  Image size: 1920x1080
Press ESC to quit, 'r' to start/stop recording.
[ WARN] (2024-10-18 20:16:12) OdometryF2M.cpp:565::rtabmap::OdometryF2M::computeTransform() Registration failed: "Not enough inliers 10/20 (matches=118) between -1 and 2"
[FATAL] (2024-10-18 20:16:12) OptimizerG2O.cpp:1906::rtabmap::OptimizerG2O::optimizeBA() Condition (optimizer.verifyInformationMatrices()) not met!


the final calibration

%YAML:1.0
---
camera_name: v3_right
image_width: 1920
image_height: 1080
camera_matrix:
   rows: 3
   cols: 3
   data: [ 1.0432729593104793e+03, 0., 9.6817899140676104e+02, 0.,
       1.0437151166783851e+03, 5.4787074179925901e+02, 0., 0., 1. ]
distortion_coefficients:
   rows: 1
   cols: 5
   data: [ 2.2983564924898458e-02, -3.0795060067362240e-02,
       2.0109709445381911e-03, 8.3164915158473885e-04,
       2.1762285839859938e-03 ]
distortion_model: plumb_bob
rectification_matrix:
   rows: 3
   cols: 3
   data: [ 9.9642747902063711e-01, -1.5890042875408825e-02,
       8.2944472932169722e-02, 1.5845339921251176e-02,
       9.9987373793833800e-01, 1.1972401579947057e-03,
       -8.2953024389456537e-02, 1.2132037578631641e-04,
       9.9655345116356342e-01 ]
projection_matrix:
   rows: 3
   cols: 4
   data: [ 1.1690410672309877e+03, 0., 8.0921842956542969e+02,
       -6.8973422966628263e+01, 0., 1.1690410672309877e+03,
       5.4944281387329102e+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. ]




%YAML:1.0
---
camera_name: v3_left
image_width: 1920
image_height: 1080
camera_matrix:
   rows: 3
   cols: 3
   data: [ 1.0558953147204809e+03, 0., 9.6861224966146654e+02, 0.,
       1.0561742576279689e+03, 5.4737703186392207e+02, 0., 0., 1. ]
distortion_coefficients:
   rows: 1
   cols: 5
   data: [ 3.1549975364296087e-02, -5.4710881303338565e-02,
       1.4402077554779872e-03, 1.1984140678372901e-04,
       2.5597635329116526e-02 ]
distortion_model: plumb_bob
rectification_matrix:
   rows: 3
   cols: 3
   data: [ 9.9650419731458895e-01, -1.5571413260300928e-02,
       8.2078717238293686e-02, 1.5615644220603613e-02,
       9.9987806308218730e-01, 1.0306594503182510e-04,
       -8.2070313694918809e-02, 1.1790063996523145e-03,
       9.9662584431366585e-01 ]
projection_matrix:
   rows: 3
   cols: 4
   data: [ 1.1690410672309877e+03, 0., 8.0921842956542969e+02, 0., 0.,
       1.1690410672309877e+03, 5.4944281387329102e+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. ]


%YAML:1.0
---
camera_name: v3
rotation_matrix:
   rows: 3
   cols: 3
   data: [ 9.9999958108800902e-01, 2.2982158297996056e-04,
       -8.8600555664321626e-04, -2.3077866499832288e-04,
       9.9999938987836812e-01, -1.0802703824882582e-03,
       8.8575674662271832e-04, 1.0804744011295782e-03,
       9.9999902400455087e-01 ]
translation_matrix:
   rows: 3
   cols: 1
   data: [ -5.8789221262217591e-02, 9.3751252964912582e-04,
       -4.8937239029980427e-03 ]
essential_matrix:
   rows: 3
   cols: 3
   data: [ -2.6333012605341845e-07, 4.3113965386387771e-03,
       8.2112573241551715e-04, -4.2646380487953309e-03,
       5.4959479093007765e-05, 5.1786695204754693e-02,
       -8.1383231074367668e-04, -5.1783084800446848e-02,
       5.6671210309109435e-05 ]
fundamental_matrix:
   rows: 3
   cols: 3
   data: [ 8.8283363112214513e-10, -1.4450456780826143e-05,
       5.0022352146395412e-03, 1.4291456005740164e-05,
       -1.8412899888568561e-07, -1.9698760866374873e-01,
       -4.9842252585007131e-03, 1.9516274776158657e-01, 1. ]