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-tp1757p1773.html

Ok, you are using the standalone version. By default for Freenect2 driver, factory calibration is used (well the one used by libfreenect2).

You can click on "Test" button in the Preferences->Source panel to look at the point cloud generated. Make sure that color and depth match well together.

For camera calibration, you can click "Calibrate". You can look at this calibration example (see Calibration section), though you can use directly the feed of the camera (no need to record a video).

When the calibration files are saved in ~/Documents/RTAB-Map/camera_info and calibration file path is set in Source panel, the Freenect2 driver will use it.

cheers