Costmap generation:3d to 2d projection

Posted by valerylo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Costmap-generation-3d-to-2d-projection-tp6455.html

Hi Mathieu,
I am currently working with several ZED camera in order to generate a global costmap for a turtlebot. I would like to precisely understand how the 2d costmap is generated from the pointcloud (or the 3d map) in RTABmap.
I read this paper:
https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/7/7a/Labbe18JFR_preprint.pdf
that explain a lot, but not enough to understand this point.

I also played with the parameters of the node, in particular with: Grid: MaxObstacleHeight, but I am not totally sure about how it is defined and what it does.

i ask this question because I would like to ignore the obstacles higher than my robot. For exemple it should be able to go under a table. I already have good result but I would like to properly understand the algorithms behind to improve the map.