Also, I get the ZED camera to work with RTAB-Map only by using the command:
$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/depth_registered frame_id:=zed_camera_center approx_sync:=false
However, the point cloud I get is distorted as you can see here:
sc2.png Do you know how can I fix these issues ?
If you want to use OpenCV stereo BM approach to compute disparity instead, use zed like a stereo camera. See this tutorial instead. Note that I just fixed the following error in this commit to make it works again with the zed:
Input type must be image=mono8,mono16,rgb8,bgr8 (mono8 recommended), received types are bgra8 (left) and bgra8 (right)