Re: How does rtabmap deal with dynamic objects?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-does-rtabmap-deal-with-dynamic-objects-tp4735p8107.html

Hi,

Do you have screenshots of the environment, things to clear?

To see obstacles removed from the point  cloud, make sure to visualize octomap_cloud topic, not map_cloud or mapData. For RGB-D 3D obstacles clearing, make sure Grid/FromDepth is true, Grid/3D is true and Grid/RayTracing is true.

Note that if you are moving in 2D, setting Grid/3D=false can give good results with a lot less computation time.

cheers,
Mathieu