optimizedPoses in MapOptimizerNode.cpp

Posted by KamalDSOberoi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/optimizedPoses-in-MapOptimizerNode-cpp-tp1598.html

Hello,

I am trying to integrate the pose of artificial landmarks with this package. I am able to get the landmark pose in /odom frame and I pass it to MapOptimizerNode.cpp using the user data in NodeData.msg.

After I compute the connected graph, I get the pose of the robot and the pose of landmarks as it is, but after optimizing in MapOptimizerNode.cpp, the pose of the landmarks increases. That is, it shows the landmarks to be a bit far from the robot in RVIZ, than they actually are.

I think that this is a problem in a way the graph is optimized. I checked the process of creating the graph and I think that it is correct. But optimization process is a bit confusing.

Could you please help me in understanding where the problem might lie? Thanks!!

Regards,
Kamal