Re: Rtab map in different floors

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtab-map-in-different-floors-tp6947p9159.html

Hi Derek,

The parameter GridGlobal/AltitudeDelta already does 2).

For 1), you can trigger a new map for each floor, or you can also just map continuously all floors, the parameter GridGlobal/AltitudeDelta works eather in the same session or across sessions. Only thing to consider, when you create a new session, it should be somewhat connected to previous ones, otherwise rtabmap will just use the one that it is currently localizing. In the later case, if all maps for each floor are distinct, you may not even have to use GridGlobal/AltitudeDelta as when there is a re-localization, the correct map will be constructed from nodes of that session.

sorry to answer so late, I was moving to a new country this summer along with with new job. I am slowly reading my backlog of questions.

cheers,
Mathieu