Re: MapOptimizerNode: mapCorrection

Posted by KamalDSOberoi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/MapOptimizerNode-mapCorrection-tp1707p1750.html

Hi,

Thanks for the idea. I compared both the outputs and you are right. Because of the error in calculating mapCorrection in map_optimizer node, this problem is happening.

So my question is that what is the logic behind calculating the mapCorrection? What I understand is:

mapCorrection = (optimized robot pose(in /map frame)) * ((un-optimized robot pose(in /odom frame).inverse)(in /base_link frame))

Is this correct? If yes, then what could be the reason that I get the wrong result?

Thanks and Regards,
Kamal