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Updated Multi Session Mapping with RTAB Map Tango (markdown)

matlabbe
2018-10-16 19:30:22 -04:00
parent 0eac9f062a
commit f318e941d4
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Multi-Session-Mapping-with-RTAB-Map-Tango.md
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@@ -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. * 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 ### 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. 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.