Re: problem in simulation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/problem-in-simulation-tp2771p2810.html

Hi,

That one seems indeed a wrong loop closure, which can be solved be decreasing "RGBD/OptimizeMaxError" as you did. If point clouds are not on the same plane after the wrong loop closure, it is because the graph is optimized in 6DoF. You can force 3DoF optimization with Reg/Force3DoF=true (EDIT Optimizer/Slam2D=true for version < 0.11.12).

Between RVIZ and rtabmapviz, it depends on the MapCloud plugin parameters and Preferences->3D Rendering parameters respectively.

cheers,
Mathieu