Re: Visualizing the 3D Map as a PointCloud while building.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Visualizing-the-3D-Map-as-a-PointCloud-while-building-tp4562p4564.html

Hi,

Rtabmap interface shows already the point cloud of the map, not sure what do you mean by "how to display that map as a set of points". If you want a single merged point cloud, look at the ros package (rtabmap_ros) and subscribe to /rtabmap/cloud_map topic. It is still preferred to subscribe to /rtabmap/mapData and reconstruct the cloud on your side (with point cloud density you want), but "/rtabmap/cloud_map" can be a good start.

For the standalone library, there is a c++ example here reconstructing the cloud from rtabmap events.

cheers,
Mathieu