Build Octomap in using laserscan

Posted by Jacobmo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Build-Octomap-in-using-laserscan-tp4590.html

I am using a Realsense D435 and RPLidar 360 planar scanner with RTAB-Map. When using just the Realsense, the map was not very clean, but when I added the RPLidar sensor, it produced much better pointclouds. Now I am trying to generate an octopmap from the data. I have read through the other questions regarding the issue, and I was able to get the octomap working, but I needed to set the paramater Grid/FromDepth to true. which seems to be ignoring the scan from the RPLidar sensor now, so I am back to noisy maps without straight walls.

Is there a way to build an octomap, but still use the rplidar to generate the occupancy grid?
and use that data in helping create the octomap?

Thanks,
Jacob