OAK-D misalignment effects in Rtabmap

[FPSychoric]

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[matlabbe]

Hi,

In the video, if between 0:04 and 0:08 you are switching between left and right cameras, the stereo rectification is wrong as pixels are also shifting vertically (look at the box on top right).

Which launch are you using to bring up the oak-d? I recommend using stereo_inertial_node.launch instead of the stereo depth ai example with which I had a similar issue.

cheers,
Mathieu