Re: Slam using Intel RealSense tracking camera - T265

Posted by aravindSolteq on Oct 08, 2021; 2:17pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Slam-using-Intel-RealSense-tracking-camera-T265-tp6333p8629.html

I tried the rtabmap stereo calibration tool recently and found that my Stereo Rectification is failing. It shows black screen after calibration . Although individual cameras can be rectified properly, the stereo rectification is failing.

While debugging, I noticed this wierd values(of order 10^4) in projection matrix
projection_matrix:
   rows: 3
   cols: 4
   data: [ 2.8881755373135707e+02, 0., -2.3571985992431641e+04, 0., 0.,
       2.8881755373135707e+02, 1.8684832443237305e+04, 0., 0., 0., 1.,
       0. ]

Can you please let me know what mistake Im doing?

EDIT: I have solved this. I didnt update the Stereo baseline parameter(which was 0.0). When changed to 0.062, it was proper my stereo-rectification was as expected