Official RTAB-Map Forum - Re: Rtabmap mapping done but can't do relocalization

Re: Rtabmap mapping done but can't do relocalization

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-mapping-done-but-can-t-do-relocalization-tp1257p1262.html

1) You may only have to click "Download map" checkbox to get the map (it includes "Download graph").

2) Is it the local costmap shown? A relocation is needed to correctly align the robot on the map. There is no initial state needed. Note that relocation will happen only when the robot revisits an area in the same orientation (i.e., camera facing the same direction as the traversal during mapping) and that enough visual features are matching. A nice example can be seen on this video on Pi Robot: https://www.youtube.com/watch?v=j8OYlSZcqMc

3) You can browse data saved in *.db by using rtabmap-databaseViewer tool:

$ rtabmap-databaseViewer ~/.ros/rtabmap.db

If the 3D map is constructed, images are saved (point clouds are regenerated by RGB and depth images saved in the database). To see the 2D map, open Graph View in database viewer.

cheers