How to remove a session from a multi-session map?

Posted by felipeduque on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-remove-a-session-from-a-multi-session-map-tp6703.html

Hi. I'm trying to build a somewhat large map, so several sessions are in need. But sometimes a mapping session is not very well succeeded because of drift - even with correct loop closures with previous sessions. I believe it happens because I'm on a simulated environment, with some low-textured objects.

How easy is it to remove a single session from a .db? I believe I can do it code-wise, since I know the first and last IDs to be removed, but maybe it will mess with the whole map because of the metric constrains with other nodes...