Strange bugs when doing SLAM -- having point clouds and cameras but no 3d maps

[truesamurai]

Hi,

   I'm using rtabmap_ros doing SLAM, the rviz shows the output like the following:

 

   As you could see, the cameras and pointclouds are fine, but when I move the robot around, there is no 3d maps constructed. The error messages that I'm receiving are:

[ WARN] (2018-09-26 17:25:40.706) Rtabmap.cpp:1913::process() Rejected loop closure 1 -> 4595: Not enough inliers after bundle adjustment 0/5 (matches=1) between 4595 and 472259888

   I installed chrony to synchronize the clocks between remote pc and robot, but it doesn't help.

[matlabbe]

How did you start rtabmap? What is the full terminal output?