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Updated Multi Session Mapping with RTAB Map Tango (markdown)

matlabbe
2017-03-31 20:29:19 -04:00
parent 9687082bfa
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Multi-Session-Mapping-with-RTAB-Map-Tango.md
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@@ -54,8 +54,11 @@ To optimize the map even more, click on Tools->Post-processing, check Detect mor
Click "File->Export 3D clouds..." and setup the panel as the following screenshot and click "Save". If you prefer exporting the point cloud and create the mesh (and texturing) with another software, you can see the [Export Rasters Layer to MeshLab](https://github.com/introlab/rtabmap/wiki/Export-Raster-Layers-to-MeshLab) tutorial. Wait a couple of minutes then you will be able to save the OBJ.
[[doc/Tutorials/MultiSessionTango/export.jpg]]
## Other examples
## Other examples with Tango
The following examples are single session mapping, but have very similar workflow than shown in this tutorial to re-process the database. In these cases, the databases have been re-processed with different parameters to get more loop closures than with the default parameters.
1. [Indoor/Office](http://official-rtab-map-forum.67519.x6.nabble.com/Adding-more-loop-detection-in-post-processing-td2643.html)
2. [Outdoor/Forest](http://official-rtab-map-forum.67519.x6.nabble.com/Scan-app-gt-import-optimize-PC-gt-export-td2634.html)
![](http://official-rtab-map-forum.67519.x6.nabble.com/file/n2646/side.jpg)
![](http://official-rtab-map-forum.67519.x6.nabble.com/file/n2646/top.jpg)
2. [Outdoor/Forest](http://official-rtab-map-forum.67519.x6.nabble.com/Scan-app-gt-import-optimize-PC-gt-export-td2634.html)
![](http://official-rtab-map-forum.67519.x6.nabble.com/file/n2637/depth10tex.jpeg)
![](http://official-rtab-map-forum.67519.x6.nabble.com/file/n2824/texture.jpeg)