Re: Painting a pointcloud.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Painting-a-pointcloud-tp8130p8149.html

Hi Anthony,

There are two ways to add color to scans. In both approaches, you need subscribe_rgb to be true and feed a color image.
1) enable gen_depth parameter, this will project the latest scan received into the RGB image, creating a depth image. If the lidar scan is dense enough, the RGB-D generated image could be used for loop closure detection. However, generating the map point cloud from those RGB-D images, you will lose lidar field of view.
2) During export, enable camera projection option. The point cloud of the map will be assembled from the lidar, then afterwards the full point cloud will be projected on RGB images, coloring each scan points. Camera projection is done offline in File->Export Clouds... or with rtabmap-export command line tool (see -h).

cheers,
Mathieu