how to merge multiple times SLAM db file with rgbd camera, 3d lidar and odometry ?

[qetuo105487900]

"Is it possible to merge multiple times SLAM db file with rgbd camera, 3d lidar and odometry ?

i see https://github.com/introlab/rtabmap/tree/master/archive/2022-IlluminationInvariant can merge multiple times map together, but it only for camera.

But i SLAM with rgbd camera, 3d lidar and odometry , so how to modify the parameter in .sh file that provide from https://github.com/introlab/rtabmap/tree/master/archive/2022-IlluminationInvariant/scripts/reprocess_maps_all.sh https://github.com/introlab/rtabmap/tree/master/archive/2022-IlluminationInvariant/scripts/reprocess_maps.sh https://github.com/introlab/rtabmap/tree/master/archive/2022-IlluminationInvariant/scripts/run_merge.sh and other relative file

[matlabbe]

You can do:

rtabmap-reprocess "map1.db;map2.db" combined_maps.db 

[qetuo105487900]

@matlabbe , thanks!!!!!!!!!!

[qetuo105487900]

@matlabbe , sorry. Should I need to start at the same start point ?

[matlabbe]

No, you don't need to, but the robot should traverse at some point same locations than in previous session, ideally with same point of view so that a loop closure can be detected. It is then easier to just start from the same position.

[qetuo105487900]

ok, i see. thank you so much