Re: Realtime Map Merger Improvements

Posted by derektan1995 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Realtime-Map-Merger-Improvements-tp8200p8454.html

Hi Mathieu,

Thanks for your reply, as always.

matlabbe wrote

Grid/FromDepth is independent of the scan matching approach. You can set Grid/FromDepth=true and subscribe_scan_cloud=true with Icp/Strategy=1 at the same time.

Initially, I had Grid/FromDepth=false and subscribe_scan_cloud=true with Icp/Strategy=1 at the same time. I was able to output both a 2d pointcloud compressed gridmap with a 3d pointcloud octomap.

I tried changing to Grid/FromDepth=true, while keeping everything else the same. However, I now have both 2d gridmap and pointcloud octomap both derived from my RGBD camera.

I desire to have the 2d gridmap derived from my lidar pointcloud, while the 3d octomap derived from RGBD camera source. Is that possible?

Regards,
Derek