Re: ZED camera not working with RTAB-Map

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/ZED-camera-not-working-with-RTAB-Map-tp5063p5067.html

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