Re: 3D mapping: light ground reflection and multiple walls

Posted by matlabbe on Aug 17, 2019; 2:44pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/3D-mapping-light-ground-reflection-and-multiple-walls-tp6130p6136.html

Hi,

looking at your screenshots, the depth distortion is coming from the disparity algorithm used from ZED sdk. Featureless areas will appear distorted because the algorithm interpolates them. You could compare with rtabmap using stereo images directly from zed camera (instead of using the depth image created by zed sdk), and see how the depth image is created (using cv::StereoBM). There could be also some parameters on zed camera driver side that could be tuned to avoid the algorithm to interpolate too much the featureless surfaces.

cheers,
Mathieu