Re: RTAB-map only for mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-map-only-for-mapping-tp1896p2677.html

Hi,

if you have a robot doing SLAM online, loop closure detection and map correction should be done online too. Normally, there is nothing to do offline after the SLAM process, because the SLAM is already online, so you have the map online with loop closures detected and graph corrected. Not sure if I understand correctly the first question. For the second one, the nodes contain a timestamp (epoch time). It is also possible that rtabmap uses frame id (generated by camera node), but they are generally reset to 0 when the camera node is restarted, so not very convenient. Timestamps are uniques across the mapping sessions.

cheers,
Mathieu