StorageService

Storage Services for RTabMap

Client - Capabilities

• The client connect to server pushes the RGB-Image and localizes it on the Map (obtains a x,y,z)
• After obtaining a x,y,z use it to fetch the ply chunck of interest from the server
• Start Asynchronus fetch the ply of the points that are around x,y,z
• The client caches request and suppressess request if it already has the point cloud

Server - Capabilities

• Convert the db-file to a in memory ply-cache
• Performs localization on the image sent by the client
• When a fetch for x,y,z,radius is given chunk a part of the PlyCache and send it to the client
• Ther sever pefroms caching of the request so that selecting a part of the PlyCache is not done every time.