Save post-processed database

Posted by You Li on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Save-post-processed-database-tp2334.html

Hi,

I am trying to obtained a 2D occupancy grid map with this database:
https://www.dropbox.com/s/xg6l1lt2b89l1em/rtabmap_EEEL2.db?dl=0

This is a very challenging area where the majority of wall is made by glass.

By using the commands
$ roscore
$ rosrun rtabmap_ros rtabmap _database_path:=rtabmap_EEEL2.db
$ rosrun map_server map_saver map:=proj_map
$ rosservice call /publish_map 1 1 0

I obtained a map


There are some drifts in the result. By post-processing in RTABMAP, I can obtain the result


Seems with less drifts.

So mu questions is that how can I save the post-processed database? Then it is possible to use the modified database to generate the 2D map.

The graph view is actually looks good after post-processing:



Thanks,
You Li