Re: Calibration tool

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Calibration-tool-tp2738p2764.html

Hi,

Calibration error between 0.1 and 1 should be okay (under a pixel of error). Note that this calibration doesn't fix the depth distortion. Depth distortion calibration can be done following this tutorial.

To crop the borders, you can use ROI (Region Of Interest) parameters:

$ rosrun rtabmap_ros rtabmap --params | grep Roi
Param: Grid/DepthRoiRatios = "0.0 0.0 0.0 0.0"             [[Grid/FromDepth=true] Region of interest ratios [left, right, top, bottom].]
Param: Kp/RoiRatios = "0.0 0.0 0.0 0.0"                    [Region of interest ratios [left, right, top, bottom].]
Param: Vis/RoiRatios = "0.0 0.0 0.0 0.0"                   [Region of interest ratios [left, right, top, bottom].]

Values are 0 and 1. For example: "0.1 0.1 0.1 0.0" will filter 10 % left, top, right of the image. "Grid/" is used for the occupancy grid map. "Kp/" is used for the vocabulary. "Vis/" is used for odometry and loop closure transformation.

The ROI parameter is also here for 3D rendering in rtabmapviz (Preferences->3D Rendering).

cheers,
Mathieu