Re: Using Kinect2 and LiDAR to Map and Navigate

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-Kinect2-and-LiDAR-to-Map-and-Navigate-tp6599p6622.html

Hi,

You can filter the ceiling for visualization with option "Ceiling filtering height (0=Disabled). This is done in /map frame." in Preferences->3D Rendering. If you set to 2 meters for example, do Edit->Clear the cache then Edit->Download all clouds to refresh the 3D clouds.

It is also possible to export the assembled clouds (File -> Export 3D clouds) to a PLY file, open it in CloudCompare in which you can use a tool to crop the ceiling. An EDL shader can be also enabled to better visualize the point cloud.

cheers,
Mathieu