Torjus Iveland

This might not be helpful (might also be way too late), but I guess you could invert the target algorithm and then apply the initial cube state algorithm and solve...

This seems to be working again following commit [#b9d7e80](https://github.com/introlab/rtabmap/commit/b9d7e8077c9ebe250dff7727d13a8ca08e61310f) Thanks a bunch for your work :)

The area is approximately 275 * 200 meters in area (not sure how to find surface area if that is what you mean). Forgot to mention it, but I don't...

``` ➜ VDG rtabmap-info --diff merged-2.0.db Parameters (Yellow=modified, Red=old parameter not used anymore, NA=not in database): BRIEF/Bytes= 64 (default=32) Db/TargetVersion= 0.21.1 (default=) GFTT/QualityLevel= 0.0001 (default=0.001) GridGlobal/FullUpdate= true (default=NA) Icp/CorrespondenceRatio= 0.49...

> 63 mapping sessions merged together Yes hehe, quite a lot of work :) I use 4 meters as the max depth accepted when exporting, the problem persists.