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Updated Multi Session Mapping with RTAB Map Tango (markdown)

matlabbe
2024-12-15 10:34:20 -08:00
parent 169d5ec243
commit b6328c1ecf
1 changed files with 5 additions and 5 deletions
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Multi-Session-Mapping-with-RTAB-Map-Tango.md
+5 -5
@@ -61,11 +61,11 @@ Open Preferences dialog and go to Source panel. Select `Database` for the "Sourc
#### Processing the databases without GUI
* For convenience, to merge databases using command line instructions, we can use `rtabmap-reprocess` console application like this (**version >=0.18 required**):
```bash
$ rtabmap-reprocess "chalet1.db;chalet2.db;chalet3.db;chalet4.db" merged.db
rtabmap-reprocess "chalet1.db;chalet2.db;chalet3.db;chalet4.db" merged.db
```
* With gravity constraints (**version >=0.19.5 required**):
```bash
$ rtabmap-reprocess --Optimizer/GravitySigma 0.3 --Mem/UseOdomGravity true "chalet1.db;chalet2.db;chalet3.db;chalet4.db" merged.db
rtabmap-reprocess --Optimizer/GravitySigma 0.3 --Mem/UseOdomGravity true "chalet1.db;chalet2.db;chalet3.db;chalet4.db" merged.db
```
### 6. (Optional) Post-Processing
@@ -79,7 +79,7 @@ Click "File->Export 3D clouds..." and setup the panel as the following screensho
#### Without GUI
* **version >=0.19.6 required** (`--multiband` option only available when RTAB-Map is built with [AliceVision](https://alicevision.org/) support):
```bash
$ rtabmap-export --texture --texture_size 4096 --texture_range 3 --poisson_depth 9 --max_polygons 500000 --multiband --color_radius 0 --no_clean merged.db
rtabmap-export --texture --texture_size 4096 --texture_range 3 --poisson_depth 9 --max_polygons 500000 --multiband --color_radius 0 --no_clean merged.db
```
## Example with Docker
@@ -87,7 +87,7 @@ Click "File->Export 3D clouds..." and setup the panel as the following screensho
``` bash
# Merge the databases
$ docker run -it --rm -v ~/Downloads/MultiSessionTango:/MultiSessionTango \
docker run -it --rm -v ~/Downloads/MultiSessionTango:/MultiSessionTango \
--workdir /MultiSessionTango --user $(id -u):$(id -g)\
introlab3it/rtabmap:focal \
rtabmap-reprocess \
@@ -97,7 +97,7 @@ Click "File->Export 3D clouds..." and setup the panel as the following screensho
merged.db
# Export texture mesh (focal image to have AliceVision support, not needed if --multiband is not used)
$ docker run -it --rm -v ~/Downloads/MultiSessionTango:/MultiSessionTango \
docker run -it --rm -v ~/Downloads/MultiSessionTango:/MultiSessionTango \
--workdir /MultiSessionTango --user $(id -u):$(id -g) \
introlab3it/rtabmap:focal \
rtabmap-export \