Re: problem in simulation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/problem-in-simulation-tp2771p2786.html

Hi,

Can you show a screenshot with TF? So we can see if it is the odometry, a bad loop closure, or rtabmap detected a new map should be created (high odometry covariance 9999). For the second, if in your simulation you have a lot of repeated textures, loop closure detection may find more false positives. In this case, you can decrease "RGBD/OptimizeMaxError" (maybe 0.05 or 0.1 depending on how precise is your odometry) so that these wrong loop closures are rejected.

cheers,
Mathieu