Rtabmap localization module for a point cloud not acquired by rtabmap

[A]

Hi

Is it possible to perform localization with rtabmap, but on a point cloud not acquired using rtabmap,
assuming the point cloud is textured.

Best

[matlabbe]

Hello,

No, RTAB-Map's localization is done with 2D RGB images only (the depth images are used after to find a rigid transformation between the two matching images).

Cheers,
Mathieu