Re: Mapping with multiple stereocameras, localization with multiple monochrome monocular cameras

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-with-multiple-stereocameras-localization-with-multiple-monochrome-monocular-cameras-tp6647p6776.html

Hi,

Well, we could probably remove that check when a guess is not used. I don't remember the exact case, but it could happen that the visual transform tells something, and the ICP registration (when Reg/Strategy > 0) flips 180 the resulting transform, which is wrong.

cheers,
Mathieu