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RTABMAP - how to view or export the disparity images from stereo SGM

RTABMAP - how to view or export the disparity images

Hi,

I am using RTABMAP as a stand-alone to process a set of stereo image files using stereo BM.

Now, I want to test using stereo SGM.

To tune the SGM parameters, I want to look into disparity image intermediate results.

Is there any way to view or export the disparity images from RTABMAP?

Otherwise, is it possible to call RTABMAP (version >= 0.18 supports Stereo SGM) from ROS and view to the disparity images in rviz?

Thanks,

Avner

Asked by Avner on 2019-03-07 17:44:11 UTC

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Answers

For exporting images, see http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-how-to-view-or-export-the-disparity-images-tp5637p5661.html

I'll suggest to use stereo_img_proc node to generate the disparity image and see it in RVIZ (or rqt_image_view). You can even change dynamically the parameters (with rqt_reconfigure) and switch between StereoBM and StereoSGBM (they are exactly the same algorithms integrated in RTAB-Map): image description

cheers

Asked by matlabbe on 2019-03-15 18:25:33 UTC

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