Re: Exporting multiple session maps

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Exporting-multiple-session-maps-tp2157p2212.html

Hi,

1. well, having multiples maps (not connected between each other) in the same point cloud file would be messy (unless we offset them by the size of the previous map when exporting). For convenience, I could add an option to extract all maps from the database instead only the current visualized one. They would be exported in different point cloud files (e.g. one *.pcd per session). An option to export them in the same file with offset could also be added (can be a nice option indeed to visualize all maps in the database).

2. No. Note that if you are mapping areas that will never be connected (they don't overlap), it may be better to create different databases, otherwise the loop closure detection algorithm will take a lot of processing time (to find loop closure with all other maps) for nothing.

I updated the opened issue above with your suggestions.

cheers