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You can use RGBDSLAM for a large scale map (in the terms you mentioned), but it's not out-of-the-box-one-shot-mapping, but carefully-moving-the-camera/robot-mapping, possibly with several attempts and some parameter tuning.

You can use RGBDSLAM for a large scale map (in the terms you mentioned), but it's not out-of-the-box-one-shot-mapping, but carefully-moving-the-camera/robot-mapping, most possibly with several attempts and some parameter tuning.