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

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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