Re: Robot Pose in mapData and mapOptimizer.cpp

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Robot-Pose-in-mapData-and-mapOptimizer-cpp-tp1548p1552.html

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