Re: RtabMap reads video/images from file

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RtabMap-reads-video-images-from-file-tp1290p1291.html

Hi,

yes it is possible. The RGB and depth images should be the same size, rectified, and that depth image is registered to color image. The format for depth images are 16bits unsigned (mm) or 32bits float (meter).

An example can be found for TUM datasets here : http://official-rtab-map-forum.206.s1.nabble.com/How-to-process-RGBD-SLAM-datasets-with-RTAB-Map-tp939p647.html

In summary:
1- Open Preferences->Source.
2- Make sure "RGB-D" source type is selected.
3- Set frame rate to 10 Hz for example.
4- Click on "Create Calibration" to create a simple calibration file. The camera parameters of my Kinect v2 are fx=1035.409658 fy=1036.265896, cx=953.629091, cy=550.972045 size=1920x1080.
5- Make sure the name you gave to calibration file is set in "Calibration file path".
6- Scroll down and select "Images" driver.
7- Fill RGB directory path
8- Fill depth directory path
9- Press ok and start mapping!

cheers