search

introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
Other
2.84k stars 786 forks source link

how to merge multiple times SLAM db file with rgbd camera, 3d lidar and odometry ? #1244

Closed qetuo105487900 closed 6 months ago

qetuo105487900 commented 8 months ago

"Is it possible to merge multiple times SLAM db file with rgbd camera, 3d lidar and odometry ?

i see https://github.com/introlab/rtabmap/tree/master/archive/2022-IlluminationInvariant can merge multiple times map together, but it only for camera.

But i SLAM with rgbd camera, 3d lidar and odometry , so how to modify the parameter in .sh file that provide from https://github.com/introlab/rtabmap/tree/master/archive/2022-IlluminationInvariant/scripts/reprocess_maps_all.sh https://github.com/introlab/rtabmap/tree/master/archive/2022-IlluminationInvariant/scripts/reprocess_maps.sh https://github.com/introlab/rtabmap/tree/master/archive/2022-IlluminationInvariant/scripts/run_merge.sh and other relative file

matlabbe commented 8 months ago

You can do:

rtabmap-reprocess "map1.db;map2.db" combined_maps.db
qetuo105487900 commented 8 months ago

@matlabbe , thanks!!!!!!!!!!

qetuo105487900 commented 7 months ago

@matlabbe , sorry. Should I need to start at the same start point ?

matlabbe commented 7 months ago

No, you don't need to, but the robot should traverse at some point same locations than in previous session, ideally with same point of view so that a loop closure can be detected. It is then easier to just start from the same position.

qetuo105487900 commented 6 months ago

ok, i see. thank you so much