Re: Integrate artificial landmarks with RTAB-Map

Posted by matlabbe on Aug 01, 2016; 9:00pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Integrate-artificial-landmarks-with-RTAB-Map-tp1586p1608.html

Hi,

If you disabled map optimization in rtabmap node, the point cloud you have is the odometry one. I am not sure what you mean by old and new point clouds. Do you mean not optimized and optimized point clouds?

To track down where map_optimizer is crashing, you could set output="screen" in the node tag of map_optimizer in your launch file. Also, add this at the beginning of the "main" function in map_optimizer to see more logs:

ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kDebug);

For rtabmap node, optimizing with added landmarks in the graph, deep modifications would be required. So I would stick with the map_optimizer approach.

cheers