Re: Map points created from lidar looks weird..

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-points-created-from-lidar-looks-weird-tp11131p11140.html

Could be related by how the voxel filter is creating the grid, by rounding the cells position, that could give many points appearing in same cell when the lidar didn't move more than 10 cm, then jump to cluster 20 cm and so on.

It also depends in which frame the voxel filter is applied, in odom or base_link frame? In base_link frame, I would expect that assembling the resulting points clouds in map frame would spread more the points.

Are those point clouds voxelized by point_cloud_assembler?