Re: System framework and data flow

Posted by yanmingz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/System-framework-and-data-flow-tp1048p1083.html

Hi Mathieu,

I have read your code of class rtabmap very carefully these days and tried to get your idea of your code. I am not so sure about my understanding. Could you help me to check if my understanding is right or not?

In class rtabmap, the pose of a node is recorded in member _memory, which comes from odometry node and not be modified in the whole process and saved in rtabmap.db when the whole program finished. In the mapping process, the optimization results are saved in _optimzedposes and utilized as initial values for the next optimization, but not saved in the rtabmap.db.

Before a new session starts, all the nodes are loaded from rtabmap.db. Since their poses are the original poses from odometry, an optimization process is needed. The optimization results are sent to rtabmaprviz, but not saved in the rtabmap object. So in the localization mode, when the first loop closure is detected, the poses saved in _memory have to be optimized again.

Am I right? Many thanks to you.

Best regards
Yanming