Re: Define fixed poses in map frame

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Define-fixed-poses-in-map-frame-tp7384p7395.html


Hi, if "memory management" is enabled, the map frame may move over time depending on which oldest node is currently in the working memory. The map will then move. This is explained in Section 3.5 of this paper.

If you are in localization mode, I suggest to disable Rtabmap/MemoryThr=0 or Rtabmap/TimeThr=0, and add Mem/InitWMWithAllNodes=true to use all nodes in LTM. This way, the map will have always the same referential.

Is your modified map using same /map frame?