Re: remove moved objects from pointcloud

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/remove-moved-objects-from-pointcloud-tp1835p1836.html


Hi,

how are you running rabmap with octomap? If you use octomap outputs of rtabmap node (/rtabmap/octomap_*** topics), dynamic objects should be cleared (though maybe not instantly as the octomap keeps probability of occupancy).

/rtabmap/proj topic overwrites occupied cells if the ground at this position can be "seen". Unlike octomap, there is no ray tracing, but the camera should see the ground to clear obstacles.

cheers