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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Clarification-on-RGB-and-Depth-image-has-input-from-Stereo-camera-tp2469p5143.html

Hi Felix,

"--Grid/RangeMax" has an effect only /cloud_map, which is an output of rtabmap node. /voxel_cloud is used only for visualization with rviz, which is published by point_cloud_xyzrgb node in the rtabmap.launch file (it just projects the depth image to a cloud, so if there is noise, it is coming from the depth image). If you want to limit the range of /voxel_cloud, set "max_depth" parameter under that node.

cheers,
Mathieu