Re: Rtabmap mapping done but can't do relocalization

Posted by zelda on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-mapping-done-but-can-t-do-relocalization-tp1257p1264.html

Yes I impressively watched  https://www.youtube.com/watch?v=j8OYlSZcqMc
Actually, I already saw the video and was following it, but it didn't work as the same so I was uploading the
question.

1) Yes I read that I only have to click "Download map" to get the map from .db.
    But if I click it, it just get gray, and then turn bright within some time, nothing changing. At that point,
    if I click "Donwload graph", the point clouds appear. Am I doing something wrong?

2) Yes the picture shown is "Downloaded point cloud" and "local costmap".
Do I have lack of understading about the loop closure? I thought that in the statement

"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",

combination of spot and orientation could be any where if I went during the mapping, so to relocalize,
I traversed the same course as when mapping, stop at one of that points and rotate like the one at movie, but relocaize didn't occur. I don't know why.

The reason I am asking about the initial state is this. As it is shown on the picture, corridor direction of local costmap is 90degree rotated from point cloud. If this problem disappears naturally, I wouldn't mind, but if it is reason of 'not getting relocalization', this is why I am wondering about this.

p.s1) When I am working with localization:=true, is there way to call the roslaunch mapping with selecting filename.db option?
p.2) Can I do the mapping process with priorly made .db file? Which means can I edit the pre-built rtab map?
p.s3) I really appreciate about the database tool! It's cool.

Thank you!