RTAB setup with a 3D LiDAR

Posted by chukcha2 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-setup-with-a-3D-LiDAR-tp1080.html

Hello,
I need to scan and get a 3D model of a small building and its surroundings (trees, etc.). I plan on mounting my sensors on a small drone and fly around the building to scan it. The resolution should be good enough to see details like pipes, chimneys, conduits, etc. My main question is whether RTAB can be used to achieve it. My second questions is what is the best sensor setup to use with RTAB to achieve this goal.
I have a 3D LiDAR unit (Velodyne VLP-16). Can it be used by RTAB to produce a 3D model? Do I need any additional sensors?
In ROS, I can use velodyne node to get sensor_msgs/PointCloud2 point clouds. Can rtabmap be used to produce an accurate 3D model from them?
Thank you for any insight.