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-tp1290p1339.html

Hi,

The minimal parameters required in the calibration file are focal distances fx and fy. In your case, you can try:

%YAML:1.0 
camera_name: calib 
image_width: 0 
image_height: 0 
camera_matrix: 
   rows: 3 
   cols: 3 
   data: [ 400, 0., 0, 0., 400, 0, 0., 0., 1. ] 

If you know fx and fy, change the corresponding values. A wrong fx and fy will only change the scale of the point cloud, but rtabmap should be able to create one. The depth scale factor is a factor applied to values read from the depth image. For example, in TUM datasets, the mm values are multiplied by 5 (5000 = 1 meter).

EDIT: with this kind of calibration, we assume that RGB and depth images are rectified and registered together.

cheers