Re: Multi-Robots Mapping and Localization - RTAB-MAP

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Multi-Robots-Mapping-and-Localization-RTAB-MAP-tp270p342.html

Hi,

While processing the second database, there should be a loop closure found with the first session to actually merge the two maps. It seems that no loop closures were found between the two maps, so only the latest map is shown in rtabmap, but the first map is still saved in the database.

In the database viewer, you can get the first map by changing "Optimize from" under the "Graph view" panel. By default, it generates a map from the latest node added, so only the second map is shown if there were no loop closures with the first map. If you set "Optimize from" to a node ID of the first map, it will generate only the first map. In the Edit menu, the "View 3D map..." shows the map referred by "Optimize From". To know which node are in which map, you can look the number between "[ ]" next to the Index/Id of the node shown with the two main sliders.

Cheers