Re: Slam using Intel RealSense tracking camera - T265

Posted by tnolev on Jul 29, 2020; 9:21am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Slam-using-Intel-RealSense-tracking-camera-T265-tp6333p6802.html

Hello everyone, I fixed my problem, just to let the next people that might run into the same issue.

Turns out my calibration wasn't correct and the reason for it is that I was using a 4x4 chessboard instead of the usual 8x6. Due to the fact that my chessboard was square instead of rectangular. This led the algorithm, during the calibration process, to flip some of my images from the right camera by 90° (to correct the skewness and rotation of the chessboard) but it did not do so on the left image. Because of that the calibration process could not compute properly extrinsic parameters of my stereo t265 (rotation and transformation). For some reason it still let me finish my calibration with these improper parameters and then when I went on to use rtabmap with its ROS wrapper everything failed and I got the error message as mentiionned above.

TL;DR: my solution was to switch from 4x4 chessboard to 8x6 chessboard and recalibrate