Mapping with both RGBD and Lidar

Open PhantatP opened this issue 8 months ago • 1 comments

Is there a way to combine both RGBD camera and Lidar into making occupancy grid at the same time? Right now I've tried to set param Grid/Sensor to 2 but it still behave like it use only RGBD when it visualize in Rviz.

Apr 16 '25 09:04 PhantatP

Grid/Sensor=2 should do it. Is your lidar 2D or 3D? To debug, try generating 3D local grids first, with Grid/3D=true. Open rtabmap-databaseViewer and open 3D view, then click on "Grid" checkbox. You should see grid points matching the lidar and others matching the depth cloud.

Apr 19 '25 23:04 matlabbe