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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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creating a .db file from .pcd map #1204

Closed jhb-ipu closed 5 months ago

jhb-ipu commented 5 months ago

Hi, I am trying to use Rtabmap in localization mode. The scenario is that I have a high resolution 3D coloured pointcloud as a map that was created with a different scanner than the one on my robot. It is not possible to feed the data from the high resolution scanner directly into Rtabmap or ROS. The scanner can produce .pcd or .ply format.

I saw that it is possible to export .db files as .pcd but my scenario requires the reverse of this. Is there any way to do this with Rtabmap or do you have tips how I could convert the data from .pcd to .db myself?

matlabbe commented 5 months ago

That is not possible.

A hacky way would be to create a mapping session from your single PCD file, so that one node will be created in the map. Localization would be done always against that same node all the time. That is however not trivial to do and not super convenient to use as the initial localization would need to manually be set, and ICP parameters carefully tuned as you may not want to do ICP on a high resolution 3D point cloud.

jhb-ipu commented 5 months ago

Thank you for the tips on how to deal with this problem and the great work on Rtabmap.