The rtabmap graph changes position after a while

Posted by breezy on
URL: http://official-rtab-map-forum.206.s1.nabble.com/The-rtabmap-graph-changes-position-after-a-while-tp6401.html

It seems like the graph can change its position when new loop closures are detected. I mapped an huge place and I want to be able to save some poses on the map frame for when necessary but since the graph changes those poses lose their meaning over time. Is there a way to attach poses to the graph so that when it changes the pose saved is still meaningful?

I know that if I labeled some node I could get it's pose and it would be the pose I want even if the graph changes, but what about some pose not in the graph?