Re: Comparison between realsense D435 vs T265 vs T265+D435 dual setup

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Comparison-between-realsense-D435-vs-T265-vs-T265-D435-dual-setup-tp6456p6871.html

No, /rtabmap/cloud_ground and /rtabmap/cloud_obstacles are segmented point cloud of the global map (they are outputs of rtabmap node). Don't use those clouds for the costmaps.

The other ground and obstacle clouds are outputs of obstacle_detection nodelet, generated with the current cloud of the camera.