Re: Straight hallways appear curved in RtabMap

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Straight-hallways-appear-curved-in-RtabMap-tp1757p1762.html

Hi,

Make sure your depth image is correctly registered to color image. Do you use iai_kinect2 package? They have a calibration tool: kinect2_calibration. If you use RTAB-Map standalone, there is also a calibration tool in Preferences->Source->Calibrate (however, this tool cannot calibrate the depth measurements, only camera calibration and registration).

A good camera calibration and a good RGB-depth registration can decrease this curved effect.

cheers