Re: Using DNN for Stereo Disparity with RTabMap

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-DNN-for-Stereo-Disparity-with-RTabMap-tp9691p9694.html

If it can be coded in c++ with pytorch (c++ api), I guess it could be possible to create a new class inheriting StereoDense class, like those here: https://github.com/introlab/rtabmap/tree/master/corelib/include/rtabmap/core/stereo

 The main function to implement is

virtual cv::Mat computeDisparity(
			const cv::Mat & leftImage,
			const cv::Mat & rightImage) const = 0;

Another approach would be to make a general PyStereo class calling a python script to generate the disparity, similar to PyDetector and PyMatcher classes. However, there is currently an issue making the app freezes/crashes when calling a python script using pytorch.

cheers,
Mathieu