maplab(2) - multi-session reconstruction

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0. Download VI maps from Sample-Datasets and open maplab console

1. Load all maps
load --map_folder <dataset_folder>/euroc_ml1 
load --map_folder <dataset_folder>/euroc_ml2 
load --map_folder <dataset_folder>/euroc_ml3

2. Select map
select_map --map_key euroc_ml1 

3. Re-triangulate the landmarks 
rtl 

4. Optimize the map to get a better initial map state for loop-closure 
optvi 

5. Run loop closure 
lc 

6. Run bundle adjustment 
optvi 

7. Save the optimized map 
save --map_folder <dataset_folder>/euroc_ml1_opt

8. Repeat the same for map 2 and 3

 Reference:
[1] https://github.com/ethz-asl/maplab/wiki/Preparing-a-multi-session-map
[2] https://github.com/ethz-asl/maplab/wiki/Dense-Reconstruction

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