RTAB-Map and Unity integration

Posted by viniciusbs on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-and-Unity-integration-tp4925.html

Hi, I'm trying to use a RGB-D camera connected to a remote robot to construct a 3d map of a small environment and render this in real time using Unity (that is, update the map while it is being built). I've been playing with rtab-map for a couple of days and it seems to give me very good quality maps. The Unity part, on the other hand, has been trickier... I have a few general related questions: 1) From this issue, I understood this integration is not officially supported, but has anyone successfully done it before? If so, could you give me some pointers? 2) From Unity, I'm already able to read a point cloud message, so this would be the preferred input method in my case. I see that I can get a live update of the map from /rtabmap/cloud_map, but is this the same information that I get from /rtabmap/mapData? Or is it before optimization? 3) Am I missing some obvious bottleneck that would prevent this application from working? Thank you in advance for any help.