Re: Sparse MapCloud

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Sparse-MapCloud-tp3833p3877.html

Hi,

The voxel_cloud is just the current cloud of the Kinect with a lot of points. MapData contains the data from nodes in the map. In RVIZ, mapData's point clouds are decimated by 4 to save some memory and rendering time. You can change the MapCloud plugin parameters in RVIZ to decrease decimation to get more dense clouds.

cheers,
Mathieu