Re: Losing odometry when doing fixed point scanning

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Losing-odometry-when-doing-fixed-point-scanning-tp4336p4437.html

Hi,

Which depth factor do you refer? If it is the one set to CameraRGBDImages constructor, it should be 1 most of the time, unless the depth camera gives slightly off values in scale or that the depth images have already a fixed scale in it (like the TUM RGB-D dataset, which stated here at 5 in meters).

- If your depth images have type CV_16UC1, it is assume that values are in mm (value 1500 = 1.5 meter).
- If your depth images have type CV_32FC1, it is assume that values are in meters (value 1.5 = 1.5 meter).

cheers,
Mathieu