issues related to multiple map merging

Posted by Amber on
URL: http://official-rtab-map-forum.206.s1.nabble.com/issues-related-to-multiple-map-merging-tp8775.html

Hi Matheu,

I am working on the mapping in a large indoor facility. I planned to segment the large area to be mapped into multiple small areas while ensuring the fact that any two consecutive areas will have significant overlap. Also, my plan is to record bags from each region and then merge them while mapping. I observed that instead of using rtabmap-reprocess, while loading an existing map and playing the bags from the consecutive overlapped area also does the merging. But, I have not been successful using rtabmap-reprocess with my .db files. Additionally, I also want to edit the merged map at times, meaning that if I need to remap in some portion of the environment, I would like to record the bags from that region and merge that map with the existing one. I went through  thispost and other similar ones on this topic. However, I have specifically three queries.

1. How to remove the portion of the merged map where I want to update?
2. When the bag files from two consecutive overlapping areas are recorded with large time gaps, the merging cannot be done while loading the previous database and playing the bags from the next overlapping region. TF jumps back in time or too much in the future is causing trouble. As the data for different regions could be recorded at different times (ideally), I want to merge the maps as mentioned above. Can you please suggest some ideas on this issue?
3. Is there any way to downsample the laser scans from an already created map (.db file)? It will be helpful.


thank you,