Re: occupancy grid from t265

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/occupancy-grid-from-t265-tp9374p9377.html


You may launch rtabmap.launch with rviz:=true. In rviz, add a Map display and subscribe to /rtabmap/grid_map

The t265 camera is fisheye stereo, very noisy points are expected (may appear cleaner outside).

You may need to add "--Grid/MapFrameProjection true" so that occupancy grid is generated in right frame.

Param: Grid/MapFrameProjection = "false"                   [Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.]

cheers,
Mathieu