Global map optimisation using map_optimizer node?

Posted by Y.C on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Global-map-optimisation-using-map-optimizer-node-tp814.html

Hi,

I have some questions regarding the use of this node:

1. How is the global map optimised at all? Is it using the same technique called "Moving Least Squares" in the "export cloud" dialogue window ? I have tried"MLS" to optimise the map(it smoothes the map quite well) but I'd like to try out this optimization node too.

2. What does it mean by "using graph optimization outside the rtabmap node"? Why do I have to set parameters RGBD/ToroIterations to 0 and publish_tf to false for the rtabmap node if I use this node "outside the rtabmap node"?

3. How do I visualise it properly?

My effort so far is: I have remapped its "subscribed topic" to /rtabmap/mapData, but when I try to visualise it in rviz(adding topic->/rtabmap/mapData_optimized", the map I get does not make a difference from original map in rtabmap_viz node.

I don't know what went wrong.
 
Any help is appreciated!

Y.C