Re: 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-tp8775p8795.html

Hi Mathieu,

I have not been successful using rtabmap-reprocess for merging two maps. I tried two maps as inputs. The first one contains a loop closure within the overlapping area with the second one. However, the second map did not find a loop closure in the overlapping area. When I executed this process, I observed "High variance detected, triggering a new map...", showing in the console somewhere in the middle of the total number of nodes counted considering both the maps. To be specific, map1 contains 1661 nodes and map2 contains 767 nodes. But, the new map triggering is shown when the reprocess has processed 1348 nodes. I would still understand if it would that line would have printed after all the nodes of the first map are processed. Once the process is completed, only the second map is loaded with only its own nodes, that were created while generating the same. Any suggestions?

regards,