From f318e941d4a09b1d97b60b5eb405311d0a86baab Mon Sep 17 00:00:00 2001 From: matlabbe Date: Tue, 16 Oct 2018 19:30:22 -0400 Subject: [PATCH] Updated Multi Session Mapping with RTAB Map Tango (markdown) --- Multi-Session-Mapping-with-RTAB-Map-Tango.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/Multi-Session-Mapping-with-RTAB-Map-Tango.md b/Multi-Session-Mapping-with-RTAB-Map-Tango.md index 0b4ba40..f6fab60 100644 --- a/Multi-Session-Mapping-with-RTAB-Map-Tango.md +++ b/Multi-Session-Mapping-with-RTAB-Map-Tango.md @@ -57,6 +57,12 @@ Open Preferences dialog and go to Source panel. Select `Database` for the "Sourc * When mapping the four databases is finished, press stop and you should see the four maps merged together. +#### Processing the databases without GUI +* For convenience, to merge databases using command line instructions, we can use `rtabmap-reprocess` console application like this: +```bash +$ rtabmap-reprocess "chalet1.db;chalet2.db;chalet3.db;chalet4.db" merged.db +``` + ### 6. (Optional) Post-Processing To optimize the map even more, click on Tools->Post-processing, check Detect more loop closures and/or SBA, then click "Ok". Wait until the process has finished.