I need to perform some segmentation for the generated cloud map, but I found the resolution of the published /cloud_map is lower than the one I can get from the database file. I need to do the segmentation online so can I get a denser cloud map published?
I read in some other posts that I can achieve this by adjusting the "Grid/CellSize" parameter but I couldn't find it. The other parameter I thought might work is "decimation". I set it as 1 and the point cloud published to /voxel_cloud got much denser but the /cloud_map one seems not affected.
/rtabmap/cloud_map resolution is indeed defined by Grid/CellSize parameter. This parameter is a rtabmap's library parameter (see this section to show all rtabmap's parameters) and can be set like this:
I tried to change the Grid/CellSize as you instructed but it doesn't seem make a difference.
I added this line to the rtabmap.launch file as following and I tried number of 0.01, 0.05 and 0.5, but they all give the same result in RViz. I checked the /rtabmap/Grid/CellSize parameter and it shows the parameter was changed. BTW, I started rtabmap by launch the rgbd_mapping.launch. Am I missing something? Thanks!
You are correct that the MapCloud overlapped the cloud_map cloud in my screenshots. I can see the cloud get coarser with a greater Grid/CellSize. However, it seems that the Grid/CellSize of 0.01 gives the finest cloud. Even I set the Grid/CellSize smaller than 0.01, the cloud doesn't seem getting finer. Is 0.01 the limit or it is just my feeling wrong?