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It is possible to create a map with rtabmap using the laser and obtaining 3D point cloud at the same time?

asked 2019-04-17 08:44:03 -0500

Rosbq gravatar image

Hello,

I'm using rtabmap in order to carry out rgbd slam using a rgbd camera, odometry and a fake laser scan obtained from the rgbd camera. When I execute rtabmap, the generated grid_map is different if I set grid/fromDepth parameter to true or false.

If a set grid/fromDepth parameter to false, the map is created using the laser scan data, and the map obtained is good. However, if I try to visualize the cloud_map in rviz or saving this point cloud to a pcd file, only the points of the laser scan are visualized/saved.

On the other hand, if I set grid/fromDepth to true, I can visualize the complete 3D point cloud from cloud_map in rviz, and the pcd saved contains the complete point cloud. However, the generated grid_map is not too good, because is generated using all the points, not only the laser scan information.

Is there any way of creating the grid_map only using the laser scan information, and obtaining the complete 3D point cloud in cloud_map at the same time?

Thank you very much in advanced!

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answered 2019-04-17 18:51:15 -0500

matlabbe gravatar image

updated 2019-04-17 18:51:30 -0500

No, you cannot have both online outputs at the same time. However, you can generate the 3D point cloud offline by opening the resulting database with rtabmap standalone or rtabmap-databaseViewer, then see "File-> Export clouds" menu option.

cheers,
Mathieu

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Hi Mathieu,

Thank you very much for you quick answer!

Cheers, Blanca

Rosbq gravatar image Rosbq  ( 2019-04-18 03:29:14 -0500 )edit

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Asked: 2019-04-17 08:44:03 -0500

Seen: 241 times

Last updated: Apr 17 '19