Hi there,
I have been working with the RTabMap standalone application.
I tuned my StereoSGBM parameters outside of RTabMap GUI (using OpenCV). Due to the range of depth sensing I would like, I have parameters with a non-zero minDisparity. The disparity map looks fine in OpenCV, however when using the same set of parameters in RTabMap, the disparity map and instantaneous pointcloud look incorrect.
For example, with
these default settings on the
demo video, the
results look fine. However, when changing to a
positive minDisparity, it seems that for
disparities < minDisparity,
RTabMap's disparity map shows up as blue, and the instantaneous pointcloud shows the blue sections as a flat depth, which ultimately results in
an incorrect map.
How can I use a positive minDisparity in the RTabMap standalone application?
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