Re: Create map with the playback from database file or bag file

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Create-map-with-the-playback-from-database-file-or-bag-file-tp8415p8502.html

Hi,

when recording a database like that, only images are recorded, there is no odometry or map created. You should replay it in rtabmap app, by selecting Detection->Select source->More options, then select Database as source type, then under Database group below, click on "..." to select the recorded database. It will ask if you want to use odometry inside the dataabse, say "No" to recompute odometry, then "No" again to process all frames (as we assumed you recorded at 30 Hz).

Otherwise, while the data recorder is useful in some cases, I recommend to use rosbags instead, so you can re-use the same command line you used online (if you record compressedDepth and compressed topics, set compressed:=true so that rtabmap.launch subscribe to compressed topics recorded in the bag).

cheers,
Mathieu