{"action":"opened","issue":{"url":"https://api.github.com/repos/introlab/rtabmap/issues/96","repository_url":"https://api.github.com/repos/introlab/rtabmap","labels_url":"https://api.github.com/repos/introlab/rtabmap/issues/96/labels{/name}","comments_url":"https://api.github.com/repos/introlab/rtabmap/issues/96/comments","events_url":"https://api.github.com/repos/introlab/rtabmap/issues/96/events","html_url":"https://github.com/introlab/rtabmap/issues/96","id":164716097,"number":96,"title":"kinect mapping","user":{"login":"lynnsky","id":9796108,"avatar_url":"https://avatars.githubusercontent.com/u/9796108?v=3","gravatar_id":"","url":"https://api.github.com/users/lynnsky","html_url":"https://github.com/lynnsky","followers_url":"https://api.github.com/users/lynnsky/followers","following_url":"https://api.github.com/users/lynnsky/following{/other_user}","gists_url":"https://api.github.com/users/lynnsky/gists{/gist_id}","starred_url":"https://api.github.com/users/lynnsky/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lynnsky/subscriptions","organizations_url":"https://api.github.com/users/lynnsky/orgs","repos_url":"https://api.github.com/users/lynnsky/repos","events_url":"https://api.github.com/users/lynnsky/events{/privacy}","received_events_url":"https://api.github.com/users/lynnsky/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2016-07-10T13:39:55Z","updated_at":"2016-07-10T13:39:55Z","closed_at":null,"body":"I have a  ASUS Xtion with openni2 on USB3.When I tested kinect mapping,I used parameters file `config.ini` from  https://github.com/introlab/rtabmap/wiki/Change-parameters ,I selected `Show in 3D map view`.But I didn,t get right mapping.It solved one image,the program stops working.How can I mapping well.\r\n![v9dmq9o c0w w ds 8bhoy](https://cloud.githubusercontent.com/assets/9796108/16713814/735ef128-46e5-11e6-8f74-96ee5a8d3bbd.png)\r\n\r\nWhen I test with rgbd_mapping,execute `rtabmap-rgbd_mapping.exe 1` ,It seems Xtion only get one images, the result are as follows:\r\n![pc4sg8xmdd4xiezheat9v1](https://cloud.githubusercontent.com/assets/9796108/16713853/46803198-46e6-11e6-9b2a-93789629242c.png)\r\n\r\nCan  rtabmap  implement a complete SLAM system,include odometry 、loop closure detection、robust graph optimization?\r\n"}}
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