Using rtabmap as backend to colorize points

Posted by dinossht on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-rtabmap-as-backend-to-colorize-points-tp11165.html

I am currently using rtabmap_slam node with fastlio as odometry. I want to know if I can use rtabmap_slam node to just accumulate odometry and point loud data from fastlio node and construct map, as well as assembling camera images as for coloring purposes later. My question is whether it possible to reduce processing heavy activities such as loop closure detection, icp matching etc in rtabmap. I experience that fastlio already provides accurate odometry and pointcloud, so it seems unnecessary to redo map optimization etc. I want to basically use rtabmap to merge fastlio odometry and pointcloud with rgbd images to output colored pointcloud and map. Is this possible?