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-tp1757p1795.html

Hi,

Calibration for RGB-D cameras can be done too. However, unless for Freenect2, RTAB-Map standalone doesn't support calibration of RGB-D cameras (it uses always the factory calibration/registration). Not sure if OpenNI2 could load some calibration files if saved somewhere in its config folders.

ROS provides a package to calibrate RGB-D cameras: http://wiki.ros.org/openni_launch/Tutorials

Note that RGB-D cameras would need also a depth calibration to increase accuracy. Quote from this page:

This calibration does not necessary fully calibrate the depth. Especially the ASUS Xtion is prone to depth errors and needs further calibration

cheers