Transformations between Maps

Posted by Kaifei on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Transformations-between-Maps-tp1126.html

Hi Mathieu,

    May I ask some questions about multi-map data manipulations?

    I believe that every map saved in one multi-map database file has its own coordinate system.
    My questions are:
    1. Is it true that two images taken at the same real-world location may have different poses in a database file if they are in two maps?
    2. Is the Link table the only information about the relative transformation between two maps?
    3. When I "Export 3D clouds (*.ply *.pcd *.obj)..." on a multi-map database, RTABMap must know the relative transformations between two maps to assemble all small clouds. Can you point me where the code figure out this relative transformation?
        In other words, if I have an image A in map A, and an image B in map B, how do I know Image B's pose in map A's coordinate system? (Assume there was at least one success loop closure detection)

    Thanks a lot!

Best,
Kaifei