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I have an OAK-D Pro W PoE camera and I am trying to follow this tutorial to perform SLAM with RTABMAP in ROS noetic. I follow all steps but I receive the following error message when I launch rtabmap.launch

[ERROR] [1703160156.148481967]: The stereo baseline (-0.075033) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo setup where the Tx (or P(0,3)) is negative in the right camera info msg.

I don't know why RTABMAP reads a negative measure of the baseline.

I tried to swap left and right camera_info files in the parameters of rtabmap.launch and it starts but obviously it is not accurate.

How can I provide the right baseline?

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1 Answer 1

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The third value inside the P matrix of the camera_info may be inverted between the topics, or just set without the right sign.

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