Re: RTAB-Map and Unity integration

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-and-Unity-integration-tp4925p4929.html

Hi,

1) I don't think so
2) Yes, cloud_map has the same data than mapData. It will be optimized on loop closures and it is voxelized at 5 cm by default, see Grid/CellSize parameter.
3) It is more efficient to use mapData and reconstruct the point cloud on client side. The whole point cloud doesn't need to be streamed at each update, only latest data added to map. See rviz MapCloud plugin on how to use that topic. In processMapData(), we create the cloud of the latest node added to graph. In update(), we move all clouds accordingly to their optimized pose (we just update the pose of the cloud's root transform).

cheers,
Mathieu