Re: Using Stereo Vision With Gazebo

Posted by matlabbe on May 22, 2020; 4:20pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-Stereo-Vision-With-Gazebo-tp6643p6678.html

rtabmap node subscribes to to camera info.

The error is coming from here:

if(!data.depthOrRightRaw().empty() &&
   data.cameraModels().size() == 0 &&
   !data.stereoCameraModel().isValidForProjection() &&
   !pose.isNull())
{
   UERROR("Camera calibration not valid, calibrate your camera!");
   return 0;
}

In your left camera_info, P(0,3) should be 0, not -157.29401728003162