Re: Trajectory Generation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Trajectory-Generation-tp192p198.html

Hi James,

The resolution of the 3D map is defined by 1 pixel / grid cell. So with the default cell size 0.05 m, there is 1 pixel for each 5 cm cell. A map of 4m/4m would be 80/80 pixels. By setting the resolution to 0.01, the same map would be 400/400 pixels.

In the DatabaseViewer, there is a similar Graph view panel which shows the 2D graph with the grid map (if there are laser scans in the database). However, the option "Occupancy grid map from 3D cloud projection" is not implemented in this application. For the 3D map, only the clouds are exported/viewed without trajectory. Note that almost all options in DatabaseViewer can be found in RTAB-Map standalone (as well 2d or 3d maps with trajectories).

Regards