Re: How does the export odometry -> Google Earth (.kml) work?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-does-the-export-odometry-Google-Earth-kml-work-tp9537p9539.html


GPS values are used to align the path (like when we align the path to a ground truth, minimizing the distance of corresponding poses) to some GPS coordinates (it is not super accurate unless it is a highly accurate gps, e.g., rtk), they are not used in the odometry estimation.

GPS values could be used in graph optimization if you explicitly set Optimizer/PriorsIgnored to false.