Re: optimizedPoses in MapOptimizerNode.cpp

Posted by KamalDSOberoi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/optimizedPoses-in-MapOptimizerNode-cpp-tp1598p1611.html

Also, I am creating the link between the robot and landmark pose as follows:

rtabmap::Link link;
link.setFrom(robot pose id);
link.setTo(landmark pose id);
link.setType(type of the link);
link.setTransform(transform between /odom --> /landmarks);

I have following questions:
1. Is this the right way?
2. How do we define the constraint between robot pose and landmark pose?
3. What is the difference between different types of link types?
4. In link.setTransform(), the tf is correct or should it be /base_link --> /landmarks?

Regards