Robot Pose in mapData and mapOptimizer.cpp

Posted by KamalDSOberoi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Robot-Pose-in-mapData-and-mapOptimizer-cpp-tp1548.html

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!!