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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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Question about cloud_map and grid_map #576

Open karthyhu opened 3 years ago

karthyhu commented 3 years ago

Thanks for RTABMAP project ,it's very helpful to me, but recently I want to build the 3D point cloud with realsense D435 camera,and grid map by laser ,so I set the prame "Grid/3D true" and "Grid/FromDepth false",then suscribe proj_map, cloud_map topics ,but cloud_map seems not the 3D point cloud, how can I set these prames?

this is my launch file `

p ` ![13994115157184 (1)](https://user-images.githubusercontent.com/19247253/116972179-387ee900-aced-11eb-9d5d-e3e80a9a50c5.png) the red points is PointCloud2 by /rtabmap/cloud_map can be 3D but grid map keep the same. Thanks very lot!!
matlabbe commented 3 years ago

It is because the lidar is 2D, so it will create 2D point cloud whether Grid/3D is true or not. Set Grid/FromDepth to true if you want to see the 3D map created from the camera's depth sensor.