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-tp2469p5101.html

Looking at the video, it looks like that the disparity approach is different from Nerian than from stereo_image_proc. stereo_image_proc uses cv::StereoBM under the hood with some default parameters. To better compare, you may republish the Nerian disparity image in stereo_msgs/DisparityImage format and compare with the disparity image from stereo_image_proc. I don't think it is the "depth conversion" code the difference.

cheers,
Mathieu