Re: Manually edit the graph

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Manually-edit-the-graph-tp3864p3867.html

Hi,

No we cannot modify back the map in the database. You may try to filter the input data you are giving to rtabmap as a solution. If you are feeding laser scans, you may filter rays with values very different to their neighbors. If the 2d map is created from the depth image, then the depth image could be filtered for single depth pixels that are far from their neighbors (like an image salt-and-pepper noise filter).

There is another solution that could work only in localization: Do a mapping session as usual, save the final map with map_saver, edit the map image, restart rtabmap in localization mode, start in parallel a map_server with your modified map and feed this map to your navigation module instead. Normally both maps would be in same referential so that /map->/odom will also match the modified map.

Cheers,
Mathieu