Re: RTAB-Map loop closure issue

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-loop-closure-issue-tp7472p7492.html

In the main window, lines represent features with same word ID, not the actual inliers used for transformation estimation. So some lines can cross between features not representing the same real feature, but those between having same word (descriptor).