Re: System framework and data flow

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/System-framework-and-data-flow-tp1048p1084.html

Hi Yanming,

Yes, you are right. After the first optimization done on first localization, no more optimizations would be required (unless there are nodes transferred or retrieved from the long-term memory).

Every request to get the map from rtabmap would result in a optimization if you set the flag global=1 on the services /rtabmap/get_map, /rtabmap/get_graph or /rtabmap/publish_map, otherwise (with global=0), the actual optimized map is sent.

cheers,
Mathieu