Re: optimizedPoses in MapOptimizerNode.cpp

Posted by KamalDSOberoi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/optimizedPoses-in-MapOptimizerNode-cpp-tp1598p1610.html

Hi,

Thanks for the insight. This means that the problem lies in the way the graph has been constructed. However, there are few variables names in map_optimizer node which are a bit confusing.

For example, what is the difference between std::multimap<int, Link> newConstraints and rtabmap::Link link other than the datatypes? I mean do they signify the same thing, that is, links between the nodes or do they signify something completely different? Also there is edgeAlreadyAdded variable. What is the difference between links, constraints and edges, in general?

Also I have similar doubt regarding poses and nodes. Don't these two refer to same entity?

Thanks a lot !!

Regards