Re: Issue merging multiple maps

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Issue-merging-multiple-maps-tp7013p7018.html

Hi,

The problem is that Rtabmap/MemoryThr is 150, and the first map is forgotten before the last map is created, thus no loop closures can be found with the first map. Try with Rtabmap/MemoryThr disabled:

rtabmap-reprocess --Rtabmap/MemoryThr 0 "section1.db;section2.db;section3.db;section4.db" output.db

Note that I also fixed a small bug (devel branch) that after creating a new map when Rtabmap/StartNewMapOnLoopClosure is true, new nodes were automatically deleted if the loop closure was rejected (even is a landmark was detected).

cheers,
Mathieu