Using positive MinDisparity in RTabMap standalone application

[HiddenNetwork]

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?

[matlabbe]

Hi,

Thx for detailed report of your results. I fixed the output disparity when minDisparity is used.

cheers,
Mathieu

[oscar]

When working with the RTabMap standalone application, adjusting the MinDisparity value can influence depth estimation and overall mapping performance depending on your camera setup and environment. تحميلات is a helpful resource for discovering useful software, Android apps, and trusted download guides with regularly updated content.