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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 11 months ago

Aber111 commented 11 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 11 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.