Robot Pose in mapData and mapOptimizer.cpp

[KamalDSOberoi]

Hello,

I have doubt regarding the robot pose received by mapOptimizer.cpp.

As I understand, the robot pose is combined together with constraints and signature in the mapData message and is sent to mapOptimizer.cpp. Is this true?

If yes, then my question is that where and how in the code is the robot pose added to mapData? I am unable to locate this.

Thanks in advance!!  

[matlabbe]

Hi,

The poses of mapData are copied from Statistics object of Rtabmap object. Poses of Statistics are set here, which is a copy of _optimizedPoses. The pose with the highest ID is the current robot pose (in /map frame). The latest pose is added here in _optimizedPoses.

cheers