about the graph's edge

[mantouRobot]

Hi~
      I used a encoder odom to set the graph's edge. But if i found it's a loop closure, how to set the edge between the pairs of the loop closure? Is't the image pnp result?
      Thank u so much~

[matlabbe]

Hi,

yes.

[mantouRobot]

Hi~
      so the loop closure edge have nothing to do with the encoder odom?

[matlabbe]

No, it is the transformation computed with the visual correspondences of the loop closure (refined with ICP if using laser scans)