Re: Adding an async external landmark

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Adding-an-async-external-landmark-tp9592p9600.html


If SensorData has landmarks, they are added to new created nodes here: https://github.com/introlab/rtabmap/blob/e2f037189a6963296dc3752ee51437d0ea5676dc/corelib/src/Memory.cpp#L5928-L5989

You don't have to add manually to optimizedPoses.

kojokaro wrote

I understand label is set to an existing node, so there's just one position (of the node) and landmark is linked to a node and has its own position. Is that correct?

yep, landmark can be used for loop closure detection too.

After mapping, I would use label, to say from that localization in the map, the docking station can be detected. You can use set_label service with the node id you want.