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How to get map's point cloud from rtab_map

asked 2016-07-18 11:45:13 -0500

markovalexey gravatar image

How I get PointCloud (PointCloud2) of the map from rtab_map? I tried topic /rtabmap/cloud_map but it has less resolution than cloud from rtabmapviz (see the screenshot below):

Image from rtabmapbiz (hirez) image description

Image from /rtabmap/cloud_map (low res) image description

How can i grub PointCloud of the map in high resolution?

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answered 2016-07-18 13:20:53 -0500

matlabbe gravatar image


by default the topic /rtabmap/cloud_map is voxelized at 5 cm. You can change this by setting cloud_voxel_size to 0.01 for rtabmap node. You may also want to reduce cloud_decimation to 1 (default 4) if you want even more points. See rtabmap_ros page for more info.

For convenience, you can use rtabmap_ros/MapCloud plugin in RVIZ (with /rtabmap/mapData topic) to create the 3D point cloud. You will have directly in RVIZ the voxel/decimation parameters. MapCloud rviz plugin is also more efficient than /rtabmap/cloud_map if you just want to visualize the 3D map.

If you want to save a point cloud to a file (e.g., *pcd or *.ply), you can do it in rtabmapviz after clicking on pause, then File->Export point clouds... You will even have more options to regenerate the point clouds at the resolution you want.


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Thank you. I want to process this point cloud via PCL. What is better: use /rtabmap/cloudmap or /rtabmap/mapData and convert to pcl::PointCloud (and how I can do It)?

markovalexey gravatar image markovalexey  ( 2016-07-18 14:24:05 -0500 )edit

In this case, use /rtabmap/cloud_map with the corresponding parameters.

matlabbe gravatar image matlabbe  ( 2016-07-18 17:16:56 -0500 )edit

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Asked: 2016-07-18 11:45:13 -0500

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Last updated: Jul 18 '16