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

asked 2019-03-07 16:44:11 -0500

Avner gravatar image

updated 2019-03-07 18:18:38 -0500

RTABMAP - how to view or export the disparity images


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?



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answered 2019-03-15 18:25:33 -0500

matlabbe gravatar image

updated 2021-08-09 10:24:00 -0500

For exporting images, see http://official-rtab-map-forum.206.s1...

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


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Asked: 2019-03-07 16:44:11 -0500

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Last updated: Aug 09 '21