RTAB-Map GUI Save Database Problem

Posted by seanxu112 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-GUI-Save-Database-Problem-tp6077.html

Hi,

I am currently trying out the optimization option with this link, https://github.com/introlab/rtabmap/wiki/Robust-Graph-Optimization

I only have g2o. I have installed GTSAM, but RTAB-map cannot find the path to it.

The map with Robust optimization looks good. However, I did it in rtabmap GUI, just like the example in the link (source from database). I do not know how to save the optimized point. Should I just map with the params set in the launch file?

Also, is there any way to improve the point cloud map after robust optimization?

Lastly, grid_map (with lidar) from RTAB-map seem to be very sparse compared to gmapping. Is it possible to combine the 2d map from gmapping and point cloud from RTAB-map?

Sincerely,
Sean