Re: Pointcloud behind objects get colored

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Pointcloud-behind-objects-get-colored-tp11116p11125.html

Ho did you try to color the point cloud?

What could be happening is that if the camera image resolution is high and point cloud "sparse", it means that some background point may be "seen" by the camera between closer points. One way to avoid this would be to decrease resolution of the camera, so that background points are overridden by foreground points for same pixel in the camera image. Other solution is to change the distance policy to select closest camera to points instead of using the cameras with projected points closer to center of the camera.

Note that if the camera frame has also a corresponding depth image, it should ignore points that are too off the depth image values.