Origin Error

[Shubhamvithalani]

Why is the the origin not corrected. In the .yaml file the origin is [0,0,0]. While for other maps that I generated using Map Save node the origin is shifted. Thus the vehicle is always at origin when starting.

[jahaniam]

Sorry for the late reply. We are not taking care of this repository much. I have seen a lot of feedbacks and people redirecting here a lot, I might start coding a new fresh mode of this in my free time. The first pose is not guaranteed to be at the origin. Initially, it is at [0,0,0] but there might be a loop closure afterwards and after loop closure, there is a global bundle adjustment which will change all the camera poses so it is not guaranteed to start at origin after loop closure. Hope it helped.