Re: Slam using Intel RealSense tracking camera - T265

Posted by tnolev on Jul 28, 2020; 3:23pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Slam-using-Intel-RealSense-tracking-camera-T265-tp6333p6800.html

Hi, I know this topic hasn't been active recently but I ran in a similar issue as the one you are addressing in this current discussion.

I have a T265 which I have calibrated using the standalone rtabmap app, I got the left, right and pose yaml files, looking mostly like yours to the exception that I had 5 distortion coefficients instead of 4. I tried applying all the different commands you suggested (roscore -> roslaunch for rs_t265.launch-> use your python script to modify the camera_info_calib and publish it as a topic-> roslaunch for rtabmap.launch), exactly as you described.

However, I still get the error messages:
[ERROR] (2020-07-28 17:07:41.726) Memory.cpp:4092::createSignature() Camera calibration not valid, calibrate your camera!
[ERROR] (2020-07-28 17:07:41.726) Memory.cpp:797::update() Failed to create a signature...

I do have realsense2 library installed, and I have a somewhat working system when I use rtabmap as standalone (although the mapping doesn't seem to undistort the image since the point cloud resembles the fisheye view), but I can't get it to work properly because of this error message.

Would you be able to point me towards the cause of my problem and eventually how to fix it ?

Here are my yaml files (I removed the %YAML:1.0 as suggested):
ros_left.yaml
"---
camera_name: "11622110037_left"
image_width: 848
image_height: 800
camera_matrix:
   rows: 3
   cols: 3
   data: [ 3.1569942836672891e+02, 0., 4.5320798209351716e+02, 0.,
       3.1773021152099881e+02, 4.0881417193276985e+02, 0., 0., 1. ]
distortion_coefficients:
   rows: 1
   cols: 4
   data: [ -2.1014365596886836e-01, 2.9166548420571422e-02,
       -1.5599954390082896e-03, -2.5452459956943787e-03 ]
distortion_model: equidistant
rectification_matrix:
   rows: 3
   cols: 3
   data: [ 9.9642963318458755e-01, -2.6703329778918736e-02,
       8.0093185043090112e-02, 2.6082786373330547e-02,
       9.9962119145758999e-01, 8.7841814593771789e-03,
       -8.0297411954754594e-02, -6.6637652739555088e-03,
       9.9674867437370696e-01 ]
projection_matrix:
   rows: 3
   cols: 4
   data: [ 1.0405870922780880e+03, 0., 4.0563197374343872e+02, 0., 0.,
       1.0405870922780880e+03, 4.0222117090225220e+02, 0., 0., 0., 1.,
       0. ]"


ros_right.yaml
"---
camera_name: "11622110037_right"
image_width: 848
image_height: 800
camera_matrix:
   rows: 3
   cols: 3
   data: [ 3.2127677411738898e+02, 0., 3.9013096480351504e+02, 0.,
       3.1595412249994331e+02, 4.0465561119173321e+02, 0., 0., 1. ]
distortion_coefficients:
   rows: 1
   cols: 4
   data: [ -1.8301520791637593e-01, -9.1158020279482974e-03,
       -3.9227771314327318e-04, 4.1384203001368618e-03 ]
distortion_model: equidistant
rectification_matrix:
   rows: 3
   cols: 3
   data: [ 9.9216630444535503e-01, 3.5218729732007084e-02,
       -1.1985685378530113e-01, -3.6146091724685657e-02,
       9.9933098618040250e-01, -5.5713654282353491e-03,
       1.1958045148049003e-01, 9.8600778784026042e-03,
       9.9277555091166203e-01 ]
projection_matrix:
   rows: 3
   cols: 4
   data: [ 1.0405870922780880e+03, 0., 4.0563197374343872e+02,
       -8.5034056783566655e+01, 0., 1.0405870922780880e+03,
       4.0222117090225220e+02, 0., 0., 0., 1., 0. ]"

ros_pose.yaml
"---
camera_name: "11622110037"
rotation_matrix:
   rows: 3
   cols: 3
   data: [ 9.7807911523364222e-01, -6.3423399359521043e-02,
       1.9833990208089289e-01, 6.0366583841576442e-02,
       9.9794626846714929e-01, 2.1427104512514738e-02,
       -1.9929154497638227e-01, -8.9843010955228883e-03,
       9.7989905726801851e-01 ]
translation_matrix:
   rows: 3
   cols: 1
   data: [ -8.1077236587902266e-02, -2.8779825216937944e-03,
       9.7943887506485791e-03 ]
essential_matrix:
   rows: 3
   cols: 3
   data: [ -1.7696206529639732e-05, -9.7484170441038236e-03,
       -3.0299977512379295e-03, -6.5783206585300086e-03,
       -1.3496157347134439e-03, 8.1390125804127370e-02,
       -2.0794612016507784e-03, -8.1093257145348402e-02,
       -1.1664316504115973e-03 ]
fundamental_matrix:
   rows: 3
   cols: 3
   data: [ 7.2751081474616635e-09, 3.9820678844846108e-06,
       -1.2379669040568661e-03, 2.7499805288348509e-06,
       5.6058309390091584e-07, -1.2216867783501957e-02,
       -8.4097708360577142e-04, 8.8620057840063833e-03, 1. ]"