g2o not converge

[caijun199702]

I ran pgslam example demo successfully，However when I ran the code using my own g2o file，it didn't converge when I ran the optimize() function on terminal，it shows" Initial chi2 = 0.000000"，as a result，the optimized result is just the same as the origin noise input. I don't know where is wrong..

[UditSinghParihar]

Are you including loop closure edges in the g2o file, otherwise it would not converge? Also, the information matrix value for the loop closure edge should be higher. If your solution is converging to the wrong solution then you need to check your loop closure transformation matrix or correspondences for doing ICP or feature matching. You can share your g2o file and I would have a look at it.