Re: RTAB-Map on Visual Studio 2012 and stereo mapping example

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-on-Visual-Studio-2012-and-stereo-mapping-example-tp624p664.html

Hi Yamming,

1. Yes. The one used for OdometryBOW is just for convenience when creating signatures (to avoid duplicating code already done by Memory class). The main purpose of the Memory class is for mapping and database management, the one used by Rtabmap class. Rtabmap uses created signatures in it for loop closure detection.

2. By default, optimization should be done exactly the same in the standalone application and rtabmap node. The rtabmap node (CoreWrapper.cpp) is just wrapper of Rtabmap class for ROS connections. The mapping stuff is still done in Rtabmap class. Are you referring to map_optimizer node? This node can be used to optimize the graph outside rtabmap node, and its parameters are more limited than optimization done inside rtabmap. Normally, you shouldn't use this node, it is for a more advanced and specific usage.

3. Yes, see Edit->Advanced->"Export Poses..." menu in the standalone (when paused or stopped). In ROS, you can subscribe to /rtabmap/mapData or /rtabmap/mapGraph (the last one is available only from 0.10.6). The "poses" field contain position of each node added to map.

cheers,
Mathieu