Re: RTABMAP standalone for localization in xyz (Kinect Xbox 360)

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-standalone-for-localization-in-xyz-Kinect-Xbox-360-tp2706p2756.html

On Windows, I would use CameraOpenni2. But yes, if you are able to build rtabmap on Windows, you should be able to use this.

EDIT
For a folder of RGB and depth images: the images should be already rectified, the depth should be PNG (32bits in meter or 16bits in mm), registered to RGB camera and you should have a calibration file (e.g., "calibration.yaml"):

CameraRGBDImages camera(pathRGBImages, pathDepthImages);
Transform opticalRotation(0,0,1,0, -1,0,0,0, 0,-1,0,0);
camera.setLocalTransform(opticalRotation);

if(camera.init(".", "calibration")) // use "calibration.yaml" in the current directory
{
    ...
}

You can use rtabmap app to create a calibration file if you know already the focal length of the RGB camera: click on Preferences->Source->Create Calibration.

cheers,
Mathieu

PS: I also modified the example above with the missing optical transformation.