Re: Losing odometry when doing fixed point scanning

Posted by scanboy on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Losing-odometry-when-doing-fixed-point-scanning-tp4336p4487.html

Thank you, this works but I have some questions after doing a few rounds of experimentation
1) I still have to set inlier distance to a large value like 1.0 or drop the number of inliers to a low value like 4. I feel that this is wrong?
2) For the Frame to map, is it in any way possible to add/process sensor data to a location in the map that is in sight of previously scanned data but out of sight from the previous position? When I try this it often just get discarded.