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