Load multiple non-overlapping maps #265
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Link to download the video merged and individual .msg maps to test it. |
bug map_db_path2 not set solved
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Thanks! |
2 tasks
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I will close this pull request as I have added a feature that can do much the same thing. See #380. |
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Pull Request to implement loading of multiple non-overlapping maps (#223). Added an interface to load a new map over a previous loaded one, without deleting the first one, with the possibility of scale, transpose and rotate this second map. We implemented in the example of "run_video_localization.cc" this functionality. To test this functionality we used the AIST dataset, making two maps, one using "aist_entrance_hall_1" and other with "aist_living_lab_1". Then we ran the example mentioned, with the two maps, using merged video of the two sets, one after another, and openvslam is capable of localize in one map, and when ends the first map, openvslam gets to "Lost" state but only for a few seconds before localizing to the other map.
If you have any suggestion or change to make, please make us know.
Furthermore, now we are exploring the option of load overlapping maps, since we found the difficulty of mapping large scenarios, we would like to map each section, and then join all them as a whole. How would you consider implementing this if its possible?
Thank you in advance,