Map Loading

[takahiko-hasegawa-hdjp]

Hi,

I am currently trying to develop an QT application that can load map.db and display the map on the GUI.

However, the map data stored in the database is the "unoptimized" version of the map; I need to optimize the map everyttime the map gets loaded.

I suppose I need to use the existing rtabmap library to optimize the map but not to sure where to look at.

Could you give me some advice on how to do that?

thanks in advance

[matlabbe]

You can look for opt_poses in Admin table to get already optimized graph, for convenience using DBDriver class: https://github.com/introlab/rtabmap/blob/64f79813cd2c3a7e3f916a7ef2637e93f1f13a5f/corelib/include/rtabmap/core/DBDriver.h#L108

[takahiko-hasegawa-hdjp]

thanks! @matlabbe how about optimized 2D point cloud? (like the graph view)

[matlabbe]

Do you mean the oocupancy grid? it is also in Admin table (see here), though only created automatically on ROS when there is a subscriber on the map. Otherwise, you can regenerate the occupancy grid in rtabmap-databaseViewer File->Renegerate optimized 2d map...