RTAB-map double walls

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Hi,

if the laser scans are fake laser scans from Kinect, I don't recommend using them for ICP refining (causing more errors as they are not very precise with small FOV). Set --Reg/Strategy 0 --RGBD/NeighborLinkRefining false in rtabmap_args. I see some jumps in odometry. What happens if you disable loop closure detection by adding this --Kp/MaxFeatures -1 to rtabmap_args? The odometry should be smooth, if there are still jumps, there is a problem with odometry. Otherwise it may because of loop closure detection. Try with --Vis/MaxDepth 3.5 to limit the distance of features used for loop closure transformation (features over 4 meters are very noisy with Kinect v1).

EDIT

For loop closure, you can also try increasing --Vis/MinInliers 30 or re-extract features when computing the transformation --RGBD/LoopClosureReextractFeatures true, you may also want to disable --RGBD/ProximityBySpace false to avoid adding constraints with the fake laser scans.

cheers