Re: optimizedPoses in MapOptimizerNode.cpp

Posted by KamalDSOberoi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/optimizedPoses-in-MapOptimizerNode-cpp-tp1598p1599.html

To make the problem more clear:
In MapOptimizerNode.cpp:

optimizer_->getConnectedGraph(fromId, poses, constraints, posesOut, linksOut);
After executing this line, I get the pose of the robot as well as the landmarks in posesOut and I get corresponding links in linksOut.

optimizedPoses = optimizer_->optimize(fromId, posesOut, linksOut);
After executing this line, optimizedPoses contains the pose of the robot and landmarks. Robot poses are correct but landmark pose is increased. This is the problem.

Please guide!!