Re: Map does not detect free space

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-does-not-detect-free-space-tp10161p10168.html

It looks like the occupancy map is created from the lidar. To fill empty space, you need to enable "Grid/RayTracing: true". On less powerful computers, you can set "Grid/3D: false".

See also other Grid related parameters with:

rtabmap --params | grep Grid

In particular with ring-lidar like this, it could be just easier to threshold the floor with "Grid/NormalsSegmentation: false" and "Grid/MaxGroundHeight: 0.05".

cheers,
Mathieu