Re: Map Optimized before Loop Closure detected

Posted by KamalDSOberoi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-Optimized-before-Loop-Closure-detected-tp1409p1449.html

Hello,

Thanks for your guidance. The problem is in the last point.

Even if there is no loop closure, the code is detecting it and changes the pose of "odom" frame. Also it is not able to properly assemble the point cloud and when "odom" moves, a point cloud is assembled but it is not "integrated" as expected with the previously assembled clouds.

What could be the problem according to you? Where should I check for the solution to this problem in the code?  

Thanks!!