Re: stereo example

Posted by matlabbe on Nov 12, 2024; 4:40am
URL: http://official-rtab-map-forum.206.s1.nabble.com/stereo-example-tp10512p10656.html


To replace the stereo matching approach (I assume you refer to dense stereo matching), if you use python code and ROS, the easiest way would be to do it upstream (externally of rtabmap node) and republish your disparity image as a depth image that could be fed to rtabmap. Just make sure to republish with same stamp than the input stereo images used to estimate it so that rtabmap can correctly synchronize it with the left or right stereo image.

Based on your previous posts, you were not using ROS, but directly the c++ API. If the neural network could be used from c++ code, that would be the easiest.

cheers,
Mathieu