Hi guys !
Can anyone tell me how i can improve the 3D reconstruction of my pointcloud ? My robot is visiting pipes and i would like to obtain a proper 3D cloud of it. It seems like local maps aren't proprely assembled in the global map. Any ideas ?
The odometry is correct : i made a round trip as a benchmark for the rgbd_odometry. Is it something related with the camera frame and the robot frame ?
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n7848/Capture_d%E2%80%99%C3%A9cran_2021-04-28_141354.png)
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n7848/Capture_d%E2%80%99%C3%A9cran_2021-04-28_141629.png)
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n7848/Capture_d%E2%80%99%C3%A9cran_2021-04-28_133849.png)
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n7848/Capture_d%E2%80%99%C3%A9cran_2021-04-28_133947.png)
Two different pipes, yet it's the same issue.
I believe the problem is related with
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n7848/Screenshot_from_2021-04-20_11-50-54.png)
But I don't know how to solve it..
Thanks for your Help ;)