I have uniformly placed some spheres and cuboids of different colors within a square area and then used RTAB-Map with Astra S RGBD monocular camera for 3D SLAM mapping. After mapping, I hope to directly identify the shapes and colors of the objects at these fixed positions, which will save a lot of time since the objects are uniformly placed, so the positions are known.
Fortunately, RTAB-Map directly provides a topic for projecting the 3D map onto a 2D map(2D occupancy grid), but it’s a 2-value image! I suspect this is because it's difficult to decide the colors when projecting a 3D map to 2D, so it’s uniformly mapped to a 2-value image.
However, I’d like to know if there’s a way to map the colors of these objects onto the 2D plane or if other suggestions that could fulfill the need ? In my case, this can essentially be considered an RGB top-down view of the square area since the object placement is quite simple.
I know I'm supposed to provide some codes or images, but I don't know what to provide(I'm a newbie), so please forgive me.
