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When Grid/RayTracing is enabled, the free space will tracked in the OctoMap.

Example with robot mapping demo:

$ roslaunch rtabmap_ros demo_robot_mapping.launch rviz:=true

In rtabmapviz, open Preferences->Local Occupancy Grid, then check "From Depth" (Grid/FromDepth) and "Ray Tracing" (Grid/RayTracing). Start the demo bag:

rosbag play --clock demo_mapping.bag

Obstacles:

Empty space:

cheers,
Mathieu

When Grid/RayTracing is enabled, the free space will be tracked in the OctoMap.

Example with robot mapping demo:

$ roslaunch rtabmap_ros demo_robot_mapping.launch rviz:=true

In rtabmapviz, open Preferences->Local Occupancy Grid, then check "From Depth" (Grid/FromDepth) and "Ray Tracing" (Grid/RayTracing). Start the demo bag:

rosbag play --clock demo_mapping.bag

Obstacles:

Empty space:

cheers,
Mathieu