Re: Map misalignement during localization

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-misalignement-during-localization-tp474p478.html

Note that post-processing is only done in the GUI, it does not modify the actual links in the database. When starting mapping again, the refined links are vanished. This option is mostly used to map -> then post-processing -> then Export cloud. To actually refine links with ICP and save them in database, you should use the database editor (database viewer).

In localization mode, while the current session is not linked with a previous one (through a loop closure), there will be an offset. You should see a green background in the loop closure view to know when the sensor is relocalized in the previous map, then the offset should disappear. Now, even if you are localized once, the sensor may drift if there are no relocations/loop closures again, which could generate an offset over time.

cheers