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rtabmap relies on detecting features on image data, so it is not really suitable for use with 3D LIDAR data. You could of course mount a stereo or RGB-D camera on your drone and generate a state estimate from that.

Note that your plans are pretty ambitious and generating highly detailed 3D models of buildings using a small drone with somewhat acceptable reliability and accuracy is an application that requires significant effort. You might want to plan for some smaller intermediate goals :)