Re: Clarification on RGB and Depth image has input from Stereo camera

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Clarification-on-RGB-and-Depth-image-has-input-from-Stereo-camera-tp2469p2477.html

Hi,

The calibration sent to rtabmap should be the one of the RGB/left image. For your disparity image with sgbm, you should have a left/right camera correctly calibrated. For convenience, I think you can select sgbm in recent stereo_image_proc, in rqt_dynamic_reconfigure you would have a combobox with BM or SGBM. To have correct calibration inputs for stereo_image_proc, see http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration

For generating depth from disparity image, you can look at this nodelet: rtambap_ros/disparity_to_depth.

cheers,
Mathieu