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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Map was bending seriously using ZED as mapping source #103

Closed sxsong1207 closed 7 years ago

sxsong1207 commented 8 years ago

Hi,

I'm using RTABMap with ZED sensor and there are 2 weird issues.

  1. Map was bending seriously when we use RTABMap,as you can see in the snapshot below, the horizontal position is pretty good. But there are a huge deformation exist on the Z-axis. According to our previous experience in airborne photogrammetry, this error may caused by image distortion, but we can not confirm it and we have no idea to correct it.

image image 2.We noticed that you invoke ZED SDK with "self-calibration" parameter. We compared the result in project, intrinsic and distortion are deflect from official calibration file about nx10 pixels. And we use same *.SVO file to perform SLAM, the self-calibration result changed every time. I wonder know if I turn off the self-calibration, can result be better?

image this one is from ZED official SDK

image and this one is created by self-calibration in RTABMap project folder.

matlabbe commented 8 years ago

Hi,

It seems there is a wrong comment in the code. The self-calibration would be disabled.

How exactly did you export the calibration files?

Indeed, comparing with a manual calibration could be done. The Zed sdk driver in RTAB-Map standalone doesn't support manual calibration, it automatically uses the factory one. I am not sure if we can force a calibration. With the Stereo Usb Camera driver, you can use the calibration tool in Preferences->Source->Calibrate, but the depth image will be generated using OpenCV (on CPU with cv::stereoBM()) instead of the ZED SDK (on GPU).

cheers

matlabbe commented 7 years ago

From this commit https://github.com/introlab/rtabmap/commit/d102c43f9aeabbfa939d3190d4ef70e68d6cabd1, self-calibration can be disabled or enabled