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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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public local occupancy map by only using stereo camera #1185

Open Aber111 opened 6 months ago

Aber111 commented 6 months ago

Hello! Thank you very much for your work! Can rtabmap generate a local 2D occupancy map with only stereo cameras? Looking forword to your reply, Thanks!

matlabbe commented 6 months ago

Yes, it does. If you subscribe only to stereo topics, by default it will create one. If you subscribe to a lidar at the same time, you have to explicitly set Grid/Sensor=1 to use the camera to create the occupancy grid. If you are navigating in 2D, you could set Grid/3D=false and Grid/Raytracing=true to fill more unknown space.