Re: Clarification on RGB and Depth image has input from Stereo camera

Posted by FeKl on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Clarification-on-RGB-and-Depth-image-has-input-from-Stereo-camera-tp2469p5142.html

Hi Mathieu,

thanks for your answer.

If I'm using rviz and subscribing to the topic /voxel_cloud in the PointCloud2, then the parameter "--Grid/RangeMax" has no effect on the 3D map. There is still a lot of noise...

But when I'm subscribing to /cloud_map in the PointCloud2, then everything is fine.

So I have two questions concerning this problem:
1) What is the difference in the 2 topics /voxel_cloud and /cloud_map?
2) And what kind of noise do we have in the "/voxel_cloud" map?

Kind regards,

Felix