Re: Theoretical Background

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Theoretical-Background-tp2586p2656.html

No, it is not possible. We would need to add a service on rtabmap node to generate a point cloud using similar parameters than in Export dialog of rtabmapviz. I added an issue.

For the poses, you can already get them by subscribing to /rtabmap/mapGraph topic. If mapping is paused and mapGraph is not published, you can force a republishing by calling service /rtabmap/publish_map (with global=true, optimized=true, graphOnly=true).

cheers,
Mathieu