Re: Multiple pointcloud input

Posted by derektan1995 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Multiple-pointcloud-input-tp9012p9035.html

Hi Mathieu,

Thanks for the reply. I think I will go with the approach of adding the segmented pointcloud topics into 'RGBDImage' to test if it works first. I will then proceed to abstract the 'scan_cloud' topic to contain both the raw pointcloud (for localization) and segmented pointcloud ('obstacle' portion for mapping).

matlabbe wrote

On rtabmap library side, this would have to be moved up before the first if so that if the input SensorData has already occupancy grid set, we don't regenerate it.

 May I check, what do you mean by 'before the first'? From my understanding, the segmented pointcloud topic has to be compressed into a 2D gridmap first. Would I have to perform the compression explicitly somewhere?

In addition, may I check if the clustering and segmentation functionality of the Obstacle Detection Nodelet is embedded inside the core rtabmap node? Both seems to be taking in similar parameters such as 'Grid/MaxGroundAngle' and 'Grid/ClusterRadius' and 'Grid/MinClusterSize'.