Getting transformations between maps after merging maps

Posted by zettadirac on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Getting-transformations-between-maps-after-merging-maps-tp5567.html

Hello matlabbe,

I have several point cloud maps that have their odometry initialized at different locations.
The point cloud maps have significant overlap between them.
I want to merge the point cloud maps using rtabmap.
After merging, I want to determine the transformations between the global coordinate system and the initial odometry of each map.

How would I do this in rtabmap?



Cheers