Re: RTABMAP Standalone Accessing GraphViewer.h file

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-Standalone-Accessing-GraphViewer-h-file-tp596p598.html

Hello Simon,

RTAB-Map uses A* only for planning purpose, it doesn't have any effect on the SLAM part. What do exactly you want to compare? Time for planning?

The GraphViewer is a QGraphicsView showing the RTAB-Map's graph. For convenience for those using only the standalone library, I've just moved all common headers to the public headers directory. GraphViewer is now accessible from outside the library as well as other useful widgets.

The graph (and cloud data) is sent over rtabmap::Statistics events (I highlighted in the link the getters of the graph). An example how parsing the event for building a 3D map can be found in processStatistics() method of the RGBD mapping example. The CloudViewer widget (wrapper of the PCL visualizer) is used for point cloud visualization.

cheers