Re: RTAB-Map on Visual Studio 2012 and stereo mapping example

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-on-Visual-Studio-2012-and-stereo-mapping-example-tp624p652.html

Hi,

I've updated the tutorial for directory of images and database. The problem was that OpenCV yaml reader needs the header "%YAML:1.0" set in the files, otherwise it thinks it is a xml. I've uploaded again the archive with the modifications. However, ROS uses python to read yaml files, and python has an error reading header "%YAML:1.0", so you must comment the line as "#%YAML:1.0" for the launch file. This is all explained now in the tutorial.

If you don't want to load the archive again, here the yaml files that work with the standalone.

stereo_20Hz_left.yaml:

%YAML:1.0
camera_name: stereo_20Hz_left
image_width: 640
image_height: 480
camera_matrix:
   rows: 3
   cols: 3
   data: [ 4.8760873413085938e+02, 0., 3.1811621093750000e+02, 0.,
       4.8760873413085938e+02, 2.4944424438476562e+02, 0., 0., 1. ]
distortion_coefficients:
   rows: 1
   cols: 5
   data: [ 0., 0., 0., 0., 0. ]
distortion_model: plumb_bob
rectification_matrix:
   rows: 3
   cols: 3
   data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
projection_matrix:
   rows: 3
   cols: 4
   data: [ 4.8760873413085938e+02, 0., 3.1811621093750000e+02, 0., 0.,
       4.8760873413085938e+02, 2.4944424438476562e+02, 0., 0., 0., 1.,
       0. ]

stereo_20Hz_right.yaml:

%YAML:1.0
camera_name: stereo_20Hz_right
image_width: 640
image_height: 480
camera_matrix:
   rows: 3
   cols: 3
   data: [ 4.8760873413085938e+02, 0., 3.1811621093750000e+02, 0.,
       4.8760873413085938e+02, 2.4944424438476562e+02, 0., 0., 1. ]
distortion_coefficients:
   rows: 1
   cols: 5
   data: [ 0., 0., 0., 0., 0. ]
distortion_model: plumb_bob
rectification_matrix:
   rows: 3
   cols: 3
   data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
projection_matrix:
   rows: 3
   cols: 4
   data: [ 4.8760873413085938e+02, 0., 3.1811621093750000e+02,
       -5.8362700032946350e+01, 0., 4.8760873413085938e+02,
       2.4944424438476562e+02, 0., 0., 0., 1., 0. ]

thx for the report,
Mathieu