Re: How to preserve labeled nodes pose coordinates

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-preserve-labeled-nodes-pose-coordinates-tp9777p9782.html

Not why you don't want that, when they move it is because the map errors are corrected, which is good. Forcing arbitrary nodes to stay fixed in g2o (by adding a "global_pose" with current map->base_link pose + very low covariance and set Optimizer/PriorsIgnored to false) would make the optimizer not converging when trying to correct the map errors, thus rejecting any new loop closures. It is like disabling loop closure detection "Kp/MaxFeatures=-1".