Re: How to use NodeData

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-use-NodeData-tp5444p5450.html

Hi Florenz,

What you are seeing is the cloud of the visual features, not the dense point cloud. To generate the dense point cloud, convert the NodeData of the MapData message in Signature using rtabmap_ros::nodeDataFromROS(). With the Signature, you can create the point cloud with rtabmap::util3d::cloudRGBFromSensorData(signature.sensorData()), which will return a pcl::PointCloudXYZRGB cloud.

If you are interested not only by the cloud of the latest node, but by the cloud of the whole map, you can subscribe to /rtabmap/cloud_map directly.

cheers,
Mathieu