RTABMAP - how to view or export the disparity images

[avnerm]

Hi,

I am using RTABMAP as a stand-alone to process a set of stereo image files using stereo BM. The 3d model that comes out is reasonable. good!
Now, I want to test using stereo SGM.
To tune the SGM parameters, I want to see the disparity image intermediate results.
Is there any way to view or export the disparity images from RTABMAP?

Thanks,
Avner

[matlabbe]

Hi,

You can see live the disparity output in Source panel, by clicking on "Test" button. You can also click, under Stereo group, on checkbox "Generate disparity image and convert it to depth..." to create the depth for mapping. It uses the parameters under StereoDense tab in Preferences. When creating the map with disparity to depth enabled, the database will be created with the left image and the depth created from SGBM for example. You can then do File -> Export images, to get a directory with RGB images (left camera) and a directory containing the depth images (disparity image converted to depth).

cheers,
Mathieu