Quetions about rgb-d slam

[jiahuazhu]

Thank you for your work! I was wondering if it would work in ros_rgbd.cc? Because I want to generate 2D grid map with an RGB-D sensor. Thank you for your answer.

[jahaniam]

This work is for RGB although the same approach could be done for RGBD (back projecting depth point in the space and use it for the 2d grid map.
That's actually what I might do if I got some free time. Let me know if you've done it.