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

Posted by FeKl on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Clarification-on-RGB-and-Depth-image-has-input-from-Stereo-camera-tp2469p5107.html

Hi Mathieu,

thanks again for your reply.

I have done a look at the corresponding disparity maps, see

1) The one which comes from the Nerian camera (converted as als stereo_msgs/DisparityImage):


2) The one which we get via stereo_image_proc/disparity from a stereo pair of the Nerian camera (also as stereo_msgs/DisparityImage):


The vizualisation is done with image_view.

Can you see any problems with the first disparity map? Could it be that the disparity map which comes directly from the Nerian camera is too dense?

Kind regards,

Felix