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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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iOS - voxelize point cloud #1202

Closed jtabraham123 closed 5 months ago

jtabraham123 commented 5 months ago

Hello, I am trying to stream point cloud from ios device, and i want it to be low size data. I am currently sending the cloud from scene.cpp in the addMesh function. Is there a setting that i can do to voxelize the point cloud live or filter the close together points? What would be the best way/practice to stream the large point cloud?

matlabbe commented 5 months ago

You can increase the decimation factor for the live point cloud in the App's options. If you prefer voxel filter, you can do rtabmap::util3d::voxelize(...) of the mesh.cloud before sending it.