about CameraRGBDImages()

[ss780217]

Hi,

Thanks for the wonderful project.
I want to use the CameraRGBDImages() by the images and depth maps captured by ASUS Xtion Pro Live.
But it said that Rectified image required! Calibrate your camera! and no odometry is provided.
How can I do?
Thank you.

[matlabbe]

A calibration file should be given to CameraRGBDImages object on initialization.

Example of a minimal calibration file (assuming that images are rectified and depth is already registered to RGB) arbitrarly called xtion.yaml (note that values are based on Kinect, you may have to change fx and fy) in the same directory as the executable:

%YAML:1.0
camera_name: xtion
image_width: 640
image_height: 480
camera_matrix:
   rows: 3
   cols: 3
   data: [ 525, 0., 319.5, 0., 525,
       239.5, 0., 0., 1. ]

CameraRGBDImages camera;
camera.init(".", "xtion");

[ss780217]

Hi,

Thanks for your answer.
The .yaml file in your answer consist of a few mistakes in the data term and it should be
data: [ 525, 0., 319.5, 0., 525, 239.5, 0., 0., 1. ]
I had tried the this file and it works on xtion!
Thanks.

[matlabbe]

Yes thx, I just corrected the answer. Doing a calibration of the RGB image could give you more precise fx anf fy values. The mapping still work with any focal distances (non-null), but the scale would not be the same as the environment.