Hello Simon,
RTAB-Map uses A* only for planning purpose, it doesn't have any effect on the SLAM part. What do exactly you want to compare? Time for planning?
The
GraphViewer is a
QGraphicsView showing the RTAB-Map's graph. For convenience for those using only the standalone library, I've
just moved all common headers to the public headers directory. GraphViewer is now accessible from outside the library as well as other useful widgets.
The graph (and cloud data) is sent over
rtabmap::Statistics events (I highlighted in the link the getters of the graph). An example how parsing the event for building a 3D map can be found in
processStatistics() method of the
RGBD mapping example. The
CloudViewer widget (wrapper of the
PCL visualizer) is used for point cloud visualization.
cheers