Re: Transformations between Maps

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Transformations-between-Maps-tp1126p1159.html

Hi Kaifei,

The newly added node should be contained in STM (as well as the previous 9 added by default). So use Memory::getStMem() instead to get the latest added IDs to memory.

In general, nodes in the local map are in WM+STM (RAM). Other nodes are in LTM (database). On start, RTAB-Map always increments the map ID. If a loop closure can be detected on start, the map1 will be linked to map0 so that the local map will contain nodes of both sessions.

cheers