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-tp2469p5108.html

Hi Felix,

It was easier to see in the videos, but the nerian disparity approach seems to give more dense disparity images. For localization/navigation, dense disparity images (in which textureless surfaces are interpolated) are not too much a problem, and can actually help to clear obstacles.

If you are looking for accurate 3D reconstruction, you may want a disparity approach giving only disparity on pixels with a lot of texture (e.g., edges), for which depth can be accurately computed. If you are looking for 3D indoor reconstruction, consider using a RGB-D camera instead.

cheers,
Mathieu