Re: How to have nice cloudpoint of depth sensor?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-have-nice-cloudpoint-of-depth-sensor-tp9823p9856.html

I think the main problem is that the lidar is giving max range data instead of NaN for invalid values, which makes ICP not working correctly:


By adding Icp/RangeMax, the resulting point cloud is a lot better:


cheers,
Mathieu