I've tried tuning SGBM parameters to get a better disparity map, but I'm finding that neural-network based methods generally produce a much smoother disparity map.
Is it possible to replace the StereoBM or StereoGBM disparity algorithms used by RTabMap, with a neural-network-based algorithim that outputs a disparity map? For both the standalone RTabMap application, as well as the ROS-based version?
Another approach would be to make a general PyStereo class calling a python script to generate the disparity, similar to PyDetector and PyMatcher classes. However, there is currently an issue making the app freezes/crashes when calling a python script using pytorch.