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Updated Multi Session Mapping with RTAB Map Tango (markdown)

matlabbe
2018-10-01 11:09:50 -04:00
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Multi-Session-Mapping-with-RTAB-Map-Tango.md
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@@ -23,7 +23,7 @@ In this example, we scanned four databases using the scanning tips above. They c
* `chalet4.db` (35 MB)
### 3. Get parameters used from the databases
Open [RTAB-Map Desktop >= 0.16.3](https://github.com/introlab/rtabmap/releases) and click on "File->Open database...". Answer "Yes" to use parameters from the database, click "Cancel" to not download map, then click "File->Close database" to close the database. Now we have RTAB-Map Desktop set with the same parameters used to map on Tango. If you played with Localization Mode to test anchors like in the scanning tips, **make sure that SLAM mode is enabled under "Preferences -> RTAB-Map Settings"**. You can do "ctrl-s" to save the current parameters.
Open [RTAB-Map Desktop](https://github.com/introlab/rtabmap/releases) (**>= 0.16.3**) and click on "File->Open database...". Answer "Yes" to use parameters from the database, click "Cancel" to not download map, then click "File->Close database" to close the database. Now we have RTAB-Map Desktop set with the same parameters used to map on Tango. If you played with Localization Mode to test anchors like in the scanning tips, **make sure that SLAM mode is enabled under "Preferences -> RTAB-Map Settings"**. You can do "ctrl-s" to save the current parameters.
### 4. (Optional) Remove any mirrors before re-processing the databases
(**Version >=0.12.4 required**) At the beginning of the first scan (`chalet1.db`), I forgot to avoid the mirror in the bathroom. Here is how we can manually remove it from the 3D map. Click on "Tools->Edit Database..." and select `chalet1.db`, then [Database Viewer](https://github.com/introlab/rtabmap/wiki/Tools#database-viewer) should open. Open the 3D View panel (View->3D View) to help seeing the 3D points behind the mirror. Using the first slider, move to image with ID=10.