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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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How to use your code for graph optimization？ #206

Open forthealllight opened 7 years ago

forthealllight commented 7 years ago

Hi， I use your code for detect positives in some database , It is really good! But after that ， when I want to use rtabmap-databaseViewer to see the graph view , It is blank . I use the New College database and run you code as your explain in Benchmark 。 And use the rtabmapconsole.db to see in RTAB-Map.exe (tools->edit->database) ? I want to ask why the graph view is blank?thank you

                                                                                                                                 sincerely
matlabbe commented 7 years ago

Hi,

In loop closure detection-only mode, there is no metric graph built. To see the topological graph, you can do *Edit->Generate Graph (.dot) in Database Viewer. This will generate Graph.dot**, which can be converted to pdf with this command (see this tutorial):

$ neato -Tpdf Graph.dot -o out.pdf

neato is an app installed with Graphviz.

cheers, Mathieu