Re: RTABMAP topics to Unity

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-topics-to-Unity-tp2115p2194.html

Hi,

If you subscribe to mapData, you receive the whole graph and only the last data (e..g, this topic would use a nearly fixed bandwidth). The published images in mapData can be also decimated for less bandwidth (see "Mem/ImagePostDecimation" parameter). The whole map can be assembled on the client side (similar to what rtabmapviz or MapCloud RVIZ's plugin do).

With mapData, you have to reconstruct the point clouds though. If the environment is relatively small, maybe cloud_map topic would be okay (so you don't bother re-creating point clouds, assembling the map and update it on loop closures).

Meshing is only available for visualization, all ROS communications would use point clouds, octomap or occupancy grid map. Note that voxel size of the output cloud_map is 5 cm, which decrease already a lot the size of the map in bytes. However, it depends which precision you need for the point cloud.

With come codings, you could create a compressed point cloud topic for cloud_map. Maybe someone has already did that somewhere for convenience.

cheers