Re: optimizedPoses in MapOptimizerNode.cpp

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/optimizedPoses-in-MapOptimizerNode-cpp-tp1598p1613.html

Hi,

links/edges/constraints mean all the same thing. The type of the link is ignored by the optimizer (so all types are all equally used). I think it is because the terminology in graph optimization, they use constraints or edges. rtabmap uses links.

The transform should be between the node referenced by robot pose id and the landmark pose, not /odom --> /landmark. So if you have the pose of the node in the graph and the associated landmark:

Transform t = robotPose.inv() * landmarkPose;
link.setTransform(t);