How to replay the mapping process

[kolohe113]

So I mapped my apartment and got the db file. Its there a way to "replay" the mapping process?

[matlabbe]

Yes, follow steps 3 and 5 on this page.

[kolohe113]

Thank you! I am able to replay the db file. Its there a way I can get the "raw cloud" like I can in the 3D Loop Closure window in Rtabmapviz? I want to get a point cloud that is more dense in the 3D Map window. Thank you

[matlabbe]

Hi,

Yes, adjust parameters in Preferences -> 3D rendering panel under Map column. Note however that if you just want to regenerate the point cloud at higher resolution, you don't need to reprocess the whole database, just open it directly, then do File->"Export 3D clouds..." or Edit->"View point clouds..." and check Regenerate clouds:


cheers,
Mathieu