matlabbe

The tf missing is the one that rtabmap's odometry should be publishing, but right now the odometry cannot be computed because the input data is bad. Try debugging your input...

The ouput left/right calibration looks more what the rectified calibration should look like. Assuming the depth image is aligned with the left camera (is color image the left camera?), you...

You can use opencv stereoRectify() to recover the rectification and projection matrices: https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html#ga617b1685d4059c6040827800e72ad2b6

I would try first to debug why the frame rate is so low. ``` rosbag info 2024-01-14-14-22-31.bag path: 2024-01-14-14-22-31.bag version: 2.0 duration: 12.6s start: Jan 14 2024 09:22:31.96 (1705252951.96) end:...

The input data look wrong:   rtabmap's odometry is giving errors/warnings that it cannot track features, which seems right as the input is crap.

I guess the PERPECTIVE matrix would be the one to set in P matrix of the camera_info published along your images. What is your code so far to acquire and...

That is the yaml file: ```yaml %YAML:1.0 --- SerialNumber: !!opencv-matrix rows: 1 cols: 1 dt: d data: [ 0. ] PositonNumber: !!opencv-matrix rows: 1 cols: 1 dt: d data: [...

``` rosrun nodelet nodelet standalone rtabmap_ros/point_cloud_xyz ``` doesn't exist anymore. It is now: ``` rosrun nodelet nodelet standalone rtabmap_util/point_cloud_xyz ``` See [migration guide](http://wiki.ros.org/rtabmap_ros/noetic_and_newer#Migration_Guide_New_Interface_Noetic.2FROS2) in case you have other similar errors.

Is `/cloud` published? ``` rostopic hz /cloud ```

Is your program a ros package? In your `CMakeLists.txt`: ```cmake find_package(RTABMap 0.21.0 REQUIRED) # include rtabmap::rtabmap target to get rtabmap include paths and link libraries: add_executable(my_node src/my_node.cpp) target_link_libraries(my_node rtabmap::rtabmap ${catkin_LIBRARIES})...