Re: Changing rtabmap topic settings

Posted by howardyu on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Changing-rtabmap-topic-settings-tp7488p9476.html

Sorry to disturb you!
I am just new to rtabmap and I am working to extract the point_cloud data of 3d map from rtabmap with the topic /rtabmap/cloud_map. I know there's closure detection in it and every time it's accepted some optimization occur. I wonder that is the pointcloud data I get from the /rtabmap/cloud_map before or after the optimization ? If it is after optimization , which kind ? global optimized or local optimized?