search

introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
Other
2.74k stars 780 forks source link

Graph-viewer #1165

Open TakahikoHasegawa03 opened 10 months ago

TakahikoHasegawa03 commented 10 months ago

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 commented 10 months ago

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.