Re: Painting a pointcloud.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Painting-a-pointcloud-tp8130p8492.html

Hi,

Did you play the bag with --clock?

point_cloud_assembler is subscribing to /velodyne_points, assemble the scans for 1 second, then publish /assembled_cloud to rtabmap (so rtabmap should be updated at 1 Hz). In you previous message, there was a fatal error killing rtabmap node, which is solved by rebuilding rtabmap with RTABMAP_SYNC_MULTI_RGBD option enabled:

[FATAL] [1630480482.426505016]: Cannot synchronize more than 1 rgbd topic (rtabmap_ros has been built without RTABMAP_SYNC_MULTI_RGBD option)

Make sure you decompress the bag before replaying it locally.

cheers,
Mathieu

EDIT: For the mesh, it is created With Export/View 3D clouds menu options in rtabmapviz, or by reopening the database in rtabmap-databaseViewer. In export dialog, there are options to generate a mesh.