Graph-viewer

[TakahikoHasegawa03]

Hi,

im trying to create a simple GUI which uses rtabmap library to load 2D occupancy grid as an image. I managed to do that but how can also add node and links to the occupancy grid image? Just like the database-viewer’s graph pane?

Could you please help me and let me know?

thanks a lot!

[matlabbe]

If you are using DBDriver::load2DMap() to get the 2D oocupancy grid, you can do DBDriver::loadOptimizedPoses() to get the corresponding poses.

If you need the links, you may call DBDriver::loadLinks() for each node id contained in the poses map.