How to create continuous map for large input files

[Udaykiran87]

Hello Community,

Thanks for great work.

I have a huge chunk of rosbag files (consisting of approximately 15 files) of size approximately 30gb size.
Currently i am looking for non ros solution. I can convert rosbag files into mp4, but in order to make a complete map i need to combine all video files, but I think it will make the input file very very long. So I was thinking below options:

Option 1:
If can I join individual map files created from each video file using run_video_slam.cc? I guess it will be very very difficult to merge map files.

Option 2:
I was thinking to use run_video_localization.cc by passing inline parameter "--mapping", but i think it does not give me the cumulative or resultant map file (old map + map of new video) as output.

Could you please suggest me any good method to achieve above?

Thanks and Regards,
Udaykiran Patnaik.

[ymd-stella]

It would be easy to add an option to run_video_slam to load the map, or to run_video_localization to save the map.

[Udaykiran87]

Ok. Let me have a try.

[Udaykiran87]

I updated run_video_localization to save the map. Thank you for your suggestion.

[ymd-stella]

I think it will make the input file very very long.

What is the problem with a large input file size?

[Udaykiran87]

There are some infrastructural constraints while combining all the videos.