Register a new cloud on loopclosure (3d lidar version)

[robertsenps]

Hi all,

I just want to ask something regarding loop closures in 3d lidar-only version. I want to create a lot of loop closures on the graph. How can I create loop closures between nodes while registering the new cloud to the 3d map and 2d map? I saw that if we create a loop closure, it won't register a new cloud on the final cloud like this.



As shown in the picture, the latest node won't update 2d map, so the 2d map is still dotted.

Thank you.

[matlabbe]

Hi,

can you share the database?

The yellow links are loop closures. When you say "adding a loop closure", is it manually or are you referring to yellow links "when loop closures are added by proximity detection..."?

cheers,
Mathieu