Re: Getting transformations between maps after merging maps

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Getting-transformations-between-maps-after-merging-maps-tp5567p5569.html

Assuming that you can merge them using rtabmap, you could open the database in rtabmap-databaseViewer, show the Graph View, then mouse over the nodes corresponding to initial nodes of each maps. You will then get directly the transformation (assuming that the first node started with Identity transform, if not, transform=odomPose.inverse() X optimizedPose).

Note that rtabmap cannot merge point clouds, only rtabmap's databases. To align raw point clouds, you would have to use a tool like CloudCompare.

cheers,
Mathieu