Re: How to get a more sparse /rtabmap/octomap_occupied_space

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-get-a-more-sparse-rtabmap-octomap-occupied-space-tp6830p6863.html

Hi,

Grid/CellSize is used also to set octomap maximum resolution (default 0.05).

While keeping Grid/CellSize, it is also possible to set octomap_tree_depth parameter to update an octomap at Grid/CellSize resolution, but output an octomap at lower resolution (with Grid/CellSize=0.05, an octomap_tree_depth of 16=0.05 voxels, 15=0.1 voxels, 14=0.2 voxels, 13=0.4 voxels...)

cheers,
Mathieu