Possible to merge multiple sessions offline?

[dinossht]

Is it possible to merge multiple session with common loop closure detection offline? Are there any premade tools for that?

[matlabbe]

Yes,

rtabmap-reprocess "map1.db;map2.db" merged.db

See for example: https://github.com/introlab/rtabmap/wiki/Multi-Session-Mapping-with-RTAB-Map-Tango#processing-the-databases-without-gui

[dinossht]

Ah yes, exactly what I needed, thank you!