How to calibrate when using CameraRGBDImages

Posted by derwee on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-calibrate-when-using-CameraRGBDImages-tp650.html

Hello,

When I try to read sensor data which combine RGB image and depth image, It encounter errors.
I intend to generate sensor data from CameraRGBDImages. In this case, Any way Can I  calibrate the camera firstly?

one more question:
what is the limitation to RGB image and depth image? It should be png format not jpg format?

Thanks in advance.

code block:
camera = new rtabmap::CameraRGBDImages("rgb_png","depth_png");
if(camera->init())
                {
                        if(camera->isCalibrated())
                        {
                                rtabmap::CameraThread cameraThread(camera);
                                odomThread.start();
                                cameraThread.start();
                                odomViewer.exec();
                                cameraThread.join(true);
                                odomThread.join(true);
                        }
                        else
                        {
                                printf("The camera is not calibrated! You should calibrate the camera first.\n");
                                delete camera;
                        }
                }
                else
                {
                        printf("Failed to initialize the camera! Please select another driver (see \"--help\").\n");
                        delete camera;
                }