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abhineet123 / ORB_SLAM2

Modified version of ORB SLAM for an autonomous navigation project
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Navigation loop closure #2

Open jahaniam opened 7 years ago

jahaniam commented 7 years ago

After a loop closure the map that is published to rviz is a new map for the keyframes that happened after loop closure.

jahaniam commented 7 years ago

It turns out the error is in publishing/sub for our own data, sometimes happens : Resetting grid map with 267 key frames resetGridMap :: Unexpected formatting in the point count element for keyframe 8