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I have been researching on the records about the usage of the rtabmap for mapping and I found this article:
It is a custom implementation on a robot (which is basically the same as a handheld project) and this application actually works great. Please check this article it could be a great guidance for you.
I was reminded of this RealSense room mapping demo by Intel from 2015.
Edit: I thought I'd add a little background info. In early 2016 there was a RealSense device called the RealSense Smartphone Developer Kit, which was an Android-based smartphone with a RealSense ZR300 camera in. It almost made it to public release and there are some preview units floating around I believe, but Intel cancelled it in summer 2016 before it went on public sale because the RealSense strategy shifted away from mobile. Its web page still survives though.
Google have also now killed Google Project Tango recently, replacing it with ARCore.
With the release of RealSense SDK 2,0 though, working with Android is becoming a possibility again.
I've already compiled rtabmap and rtabmap_ros from sources, but I'm fighting with core dumps, while testing.
Looks like this: RTABMAP on Euclid
My question: creates RealsenseSLAM useful maps which can be visualized with builtin tools ?
Thanks for all your feedback and suggestions.
I have to say that from my experience, RTABmap performs poorly when used handheld (tracking is frequently lost and fails to recover).
However, I also made a guide for ORBSlam, which you can find on our community webpage here: Intel® Euclid™ Community
While it creates a less dense map, it works very well (with implemented bundle adjustment too), and you can use it to create large scale maps.
As for Realsense SLAM, the code that was adapted to ROS and run on Euclid does not normally give you the map, but you can use Jay's fork from here to make it show up: Euclid Realsense ROS SLAM Demo
Also please let me know if you encountered the core dumps after following the instructions in the document for RTAB. It should work (I've installed it myself quite a few times).
Hope this helps and let us know what you discover!
Intel Euclid Development Team