RTABMAP Standalone Accessing GraphViewer.h file

Posted by simonfrfr on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-Standalone-Accessing-GraphViewer-h-file-tp596.html

Hello,
I have been working with the RTABMAP Standalone, because I do not want to deal with ROS. I have everything running the way that I would like it to run right now except for one thing. This is accessing the Graph Viewer. I wrote my own method for accessing the graph data, but then I realized that RTABMAP can generate its own map data. My implementation relies heavily on PCL, and is slow when it comes to large Point clouds. I am also using my own implementation of Concurrent Dijkstra's Algorithm (CDA). I saw that RTABMAP also has its own A* implementation, so I was quite happy, even though CDA is faster. I was just interested to see if there was any support for outsiders of the ROS community. And I also wanted to compare execution times of the two methods.
Thanks,
Simon