ZED camera not working with RTAB-Map

[jess-25]

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[jess-25]

Also, I get the ZED camera to work with RTAB-Map only by using the command:
$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/depth_registered frame_id:=zed_camera_center approx_sync:=false

However, the point cloud I get is distorted as you can see here:
sc2.png
Do you know how can I fix these issues ?

 Thank you

[matlabbe]

In the first email, you were launching rtabmap standalone, not rtabmap_ros.

The second approach you used is from this tutorial. The depth distortion is indeed what you get with the ZED on texture-less surfaces. You may tune the parameters in the camera launch file, like quality and confidence: https://docs.stereolabs.com/overview/depth-sensing/advanced-settings/

If you want to use OpenCV stereo BM approach to compute disparity instead, use zed like a stereo camera. See this tutorial instead. Note that I just fixed the following error in this commit to make it works again with the zed:

Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended), received types are bgra8 (left) and bgra8 (right)

cheers,
Mathieu