Re: Different results after every excecution.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Different-results-after-every-excecution-tp7635p7637.html

With "--Icp/PM true", make sure rtabmap has libpointmatcher support. Otherwise results will be very poor with PCL's default ICP approach with 3D LiDARs.

How is the lidar oriented?

A Icp/VoxelSize of 20 cm is quite small for large-scale environments. OdomF2M/ScanSubtractRadius should be generarly at same value than Icp/VoxelSize.

If you can share the bag, that could easier to reproduce what you are seeing.

cheers,
Mathieu