Re: Realtime Map Merger Improvements

Posted by derektan1995 on Aug 19, 2021; 4:26pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Realtime-Map-Merger-Improvements-tp8200p8449.html

Hi Mathieu,

Thanks for the reply. The reason why we have 2-3 nodes per session is that we keep track and merge in only new nodes that have been added to mapData that's being published by each of the robot. This is done to speed up the merger process, because the conventional method would be to merge all nodes over and over again. Ideally I would want only 2 sessions, but I'm not sure why so many sessions were created. Maybe it's because of the trigger new map function called, yet the merged map will be messed up without it.  

A side question. Is it possible to use 3D lidar pointcloud for scan matching (libpointmatcher), and yet output the 3D map based on RGBD from the depth camera? I only see 1 single parameter called Grid/FromDepth that controls both functionality.

Regards,
Derek