Re: How to assemble point cloud from additional lidar (planar)

Posted by alexr on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-assemble-point-cloud-from-additional-lidar-planar-tp3579p3596.html

Hi Mathieu,

I did not understand what you mean by the scan topic from the horizontal lidar cannot be used at the same time. From my understanding, the horizontal lidar in the RTABMAP lidar+rgbd camera+ odom is used to correct the scan matching and produce the grid map. Can't the vertical lidar along with the rgbd camera can be used to make more dense point cloud. The vertical lidar scan topic can be properly remapped to merge with scan_cloud. Can you elaborate whether this is possible or I am wrong? I have so far managed to test the laser_assembler node on gazebo and it works fine. Haven't combined it yet with SLAM for correcting the point cloud map.

Thanks
Alex