Re: empty 2D grid map

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/empty-2D-grid-map-tp4701p4745.html

Hi,

When getting larger maps and more and more sessions, g2o sometimes provide very weird optimizations, even more if the odometry covariance represents poorly the real odometry error. As long as g2o is creating you good maps, you can stick with it. However, if you have very strange map optimizations, you may switch between TORO and g2o to see the differences.

cheers,
Mathieu