RE: Problems interfacing RTAB-Map and V-Rep

Posted by PierHarper on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Problems-interfacing-RTAB-Map-and-V-Rep-tp1444p1450.html

Hi matlabbe, thanks for your help.
These are the simulated kinect matrix:
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [589.3667059626796, 0.0, 320.0, 0.0, 589.3667059626796, 240.0, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [589.3667059626796, 0.0, 320.0, 0.0, 0.0, 589.3667059626796, 240.0, 0.0, 0.0, 0.0, 1.0, 0.0]

On the other hand the real kinect matrix:
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [570.3422241210938, 0.0, 319.5, 0.0, 570.3422241210938, 239.5, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [570.3422241210938, 0.0, 319.5, 0.0, 0.0, 570.3422241210938, 239.5, 0.0, 0.0, 0.0, 1.0, 0.0]

There are no other difference between the two cameras.
Then
 i've printed the 16UC1 values.The data field contains values up to
60.Are these ones in mm? If so there is an error because the obstacle is
 at least one meter far from kinect.
Have you got any idea?
Thanks 😉