Re: the same object's point cloud can't aligned well after rotate a few times

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/the-same-object-s-point-cloud-can-t-aligned-well-after-rotate-a-few-times-tp2255p2263.html

You may show the rtabmap's MapGraph in RVIZ to see if there are loop closure or proximity links (red or yellow links). Are you using external odometry linked to /base_link for example? If so, odometry may be drifting fast or you may have to verify your TF between your /base_link frame and the camera frame. If the TF is wrong, the point cloud will not align correctly.