How to show the pointcloud of ground ?

[Mosquito]

I have a robot with a RGB-D camera, I run "$ roslaunch rtabmap_ros rtabmap.lauch " to build the rooms map.It generate rtabmap.db,It looks as follow picture.My question is :how can I get the pointcloud  with ground's pointcloud.

 

[matlabbe]

The 3d map view should always show the whole point cloud unless filtering parameters have been set under Preferences->3D Rendering panel (like the floor filtering height).

Cheers,
Mathieu

[Mosquito]

Thank you very much!
I have set the preference like this picture.
 I set the ceiling filtering height to 1m,it works,those point higher than 1m disappear.
But I set the ground filtering height to -0.7m,It didn't work,the ground point didn't appear.
So I think :
Maybe the rtabmap.db has no ground point?
Maybe I should set some parameters in rtabmap.launch to generate(or save) ground pointcloud?

[matlabbe]

Hi,

Did you try setting both values to 0 (disabled)? The only way for rtabmap.db to not have the ground is that depth images have been filtered before rtabmap node.

Can you share the database?

Cheers,
Mathieu

[Mosquito]

Yes,Today I find that the depth image and pointcloud both have no groud point cloud!
 As this picture show. Can you tell me how to set it ?Thank you very much . ^ ^

[Mosquito]

Today ,I also found my　RGB-D camera may have filter function. When I just open camera,I found it's depth image has filtered the ground.It looks like this:

[matlabbe]

What model is the RGB-D camera? As I can see, the problem is coming from the camera driver, which seems to filter the ground before sending the depth image. Maybe it could be the camera that has difficulty to see the ground, too reflective for IR projector or not enough textured if it is a stereo camera.