# MapSet MapSet APIs allow you to create and manage collections of maps with relative positioning for large-scale VPS coverage. {% hint style="warning" %} To whitelist your domain, follow: [Configuring Allowed Domains (CORS)](https://docs.multiset.ai/basics/credentials/configuring-allowed-domains-cors) {% endhint %} ## Overview A MapSet is a collection of two or more maps positioned relative to each other. This enables: * Large area coverage by combining multiple scans * Seamless localization across connected spaces * Flexible map arrangement and positioning {% hint style="info" %} **Using Codes Instead of IDs** All MapSet APIs use human-readable codes: * **MapSet Code** (e.g., `MSET_ZIRWP1NV0WBH`) - Use this for all MapSet operations * **Map Code** (e.g., `MAP_WUTCLWDXTK6U`) - Use this when adding maps to a MapSet You can find these codes in the MultiSet Developer Portal or from API responses. {% endhint %} ## Endpoints ### Create MapSet Creates a new MapSet with two or more maps. Use **Map Codes** to reference the maps. {% openapi src="" path="/map-set" method="post" %} [mapset-crud-api.yaml](https://3163433004-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FokTDI7QVY04Zvb1pQ8Ry%2Fuploads%2Fgit-blob-8a663c2da27d00066259df9bd191a6cddcc3aadc%2Fmapset-crud-api.yaml?alt=media) {% endopenapi %} *** ### Get MapSet Details Retrieves details of a MapSet including all associated maps and their relative poses. Use the **MapSet Code** (e.g., `MSET_ZIRWP1NV0WBH`). {% openapi src="" path="/map-set/{mapSetCode}" method="get" %} [mapset-crud-api.yaml](https://3163433004-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FokTDI7QVY04Zvb1pQ8Ry%2Fuploads%2Fgit-blob-8a663c2da27d00066259df9bd191a6cddcc3aadc%2Fmapset-crud-api.yaml?alt=media) {% endopenapi %} *** ### Update MapSet Details Updates the name of an existing MapSet. Use the **MapSet Code**. {% openapi src="" path="/map-set/details/{mapSetCode}" method="put" %} [mapset-crud-api.yaml](https://3163433004-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FokTDI7QVY04Zvb1pQ8Ry%2Fuploads%2Fgit-blob-8a663c2da27d00066259df9bd191a6cddcc3aadc%2Fmapset-crud-api.yaml?alt=media) {% endopenapi %} *** ### Add Map to MapSet Adds a new map to an existing MapSet with its relative pose. Use the **MapSet Code** in the URL and **Map Code** in the request body. {% openapi src="" path="/map-set/{mapSetCode}" method="put" %} [mapset-crud-api.yaml](https://3163433004-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FokTDI7QVY04Zvb1pQ8Ry%2Fuploads%2Fgit-blob-8a663c2da27d00066259df9bd191a6cddcc3aadc%2Fmapset-crud-api.yaml?alt=media) {% endopenapi %} *** ### Update Map Pose in MapSet Updates the relative pose of a map within a MapSet. {% hint style="info" %} Use the `dataId` (MapSetData ID) from the **Get MapSet Details** response. This is the only operation that requires an internal ID. {% endhint %} {% openapi src="" path="/map-set/data/{dataId}" method="put" %} [mapset-crud-api.yaml](https://3163433004-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FokTDI7QVY04Zvb1pQ8Ry%2Fuploads%2Fgit-blob-8a663c2da27d00066259df9bd191a6cddcc3aadc%2Fmapset-crud-api.yaml?alt=media) {% endopenapi %} *** ### Delete Map from MapSet Removes a map from a MapSet. {% hint style="warning" %} **Constraints:** * Cannot delete the primary map (order=0) * Cannot delete if it would leave less than 2 maps in the MapSet * Use the `dataId` from the **Get MapSet Details** response {% endhint %} {% openapi src="" path="/map-set/data/{dataId}" method="delete" %} [mapset-crud-api.yaml](https://3163433004-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FokTDI7QVY04Zvb1pQ8Ry%2Fuploads%2Fgit-blob-8a663c2da27d00066259df9bd191a6cddcc3aadc%2Fmapset-crud-api.yaml?alt=media) {% endopenapi %} *** ### Delete MapSet Deletes a MapSet and all associated map data entries. The maps themselves are not deleted, only their association with the MapSet. Use the **MapSet Code**. {% openapi src="" path="/map-set/{mapSetCode}" method="delete" %} [mapset-crud-api.yaml](https://3163433004-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FokTDI7QVY04Zvb1pQ8Ry%2Fuploads%2Fgit-blob-8a663c2da27d00066259df9bd191a6cddcc3aadc%2Fmapset-crud-api.yaml?alt=media) {% endopenapi %} ## Schemas ### RelativePose The `relativePose` object defines a map's position and orientation within the MapSet coordinate system: | Field | Type | Description | | ------------- | ------ | ---------------------------------- | | `position.x` | number | X position coordinate | | `position.y` | number | Y position coordinate | | `position.z` | number | Z position coordinate | | `rotation.qx` | number | X component of quaternion rotation | | `rotation.qy` | number | Y component of quaternion rotation | | `rotation.qz` | number | Z component of quaternion rotation | | `rotation.qw` | number | W component of quaternion rotation | {% hint style="info" %} The first map in a MapSet (order=0) typically uses identity pose: position (0,0,0) and rotation quaternion (0,0,0,1). {% endhint %}