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-tp2255p2267.html

If odometry is precise, verify the TF between your base_link (the frame of your odometry) and the camera frame. If you rotate on-place, odometry is precise and point clouds don't match, there is effectively a problem with this TF (e.g. /base_link -> /camera_link is not equal to reality).