{"action":"created","issue":{"url":"https://api.github.com/repos/introlab/rtabmap/issues/345","repository_url":"https://api.github.com/repos/introlab/rtabmap","labels_url":"https://api.github.com/repos/introlab/rtabmap/issues/345/labels{/name}","comments_url":"https://api.github.com/repos/introlab/rtabmap/issues/345/comments","events_url":"https://api.github.com/repos/introlab/rtabmap/issues/345/events","html_url":"https://github.com/introlab/rtabmap/issues/345","id":390623916,"node_id":"MDU6SXNzdWUzOTA2MjM5MTY=","number":345,"title":"[Feature request] Add support for EDGE_XYZ_PRIOR","user":{"login":"TSC21","id":5048656,"node_id":"MDQ6VXNlcjUwNDg2NTY=","avatar_url":"https://avatars1.githubusercontent.com/u/5048656?v=4","gravatar_id":"","url":"https://api.github.com/users/TSC21","html_url":"https://github.com/TSC21","followers_url":"https://api.github.com/users/TSC21/followers","following_url":"https://api.github.com/users/TSC21/following{/other_user}","gists_url":"https://api.github.com/users/TSC21/gists{/gist_id}","starred_url":"https://api.github.com/users/TSC21/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TSC21/subscriptions","organizations_url":"https://api.github.com/users/TSC21/orgs","repos_url":"https://api.github.com/users/TSC21/repos","events_url":"https://api.github.com/users/TSC21/events{/privacy}","received_events_url":"https://api.github.com/users/TSC21/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":12,"created_at":"2018-12-13T10:55:33Z","updated_at":"2019-01-04T17:57:24Z","closed_at":null,"author_association":"CONTRIBUTOR","body":"After doing several tests with inputting GPS data as prior edges to g2o, I find that using `EDGE_SE3_PRIOR` is not the best solution for GPS data, since GPS doesn't give us a full pose but rather a position. Adding another source of orientation to the GPS data usually results on weird results that tend to break the graph optimisation.\r\n\r\nThe proposed solution is to add a `/global_position` topic (already considering the `rtabmap_ros` modification as well), to where the GPS position data is published and then add that data as `EDGE_XYZ_PRIOR` instead of `EDGE_SE3_PRIOR`. The `EDGE_SE3_PRIOR` should be kept for the case we want to use mocap systems instead of GPS. But for GPS, we need the priors to be a position vector instead of a full pose.\r\n\r\n@matlabbe what's your opinion on this? Is this something you can bring in? Thanks!"},"comment":{"url":"https://api.github.com/repos/introlab/rtabmap/issues/comments/451519172","html_url":"https://github.com/introlab/rtabmap/issues/345#issuecomment-451519172","issue_url":"https://api.github.com/repos/introlab/rtabmap/issues/345","id":451519172,"node_id":"MDEyOklzc3VlQ29tbWVudDQ1MTUxOTE3Mg==","user":{"login":"matlabbe","id":2319645,"node_id":"MDQ6VXNlcjIzMTk2NDU=","avatar_url":"https://avatars1.githubusercontent.com/u/2319645?v=4","gravatar_id":"","url":"https://api.github.com/users/matlabbe","html_url":"https://github.com/matlabbe","followers_url":"https://api.github.com/users/matlabbe/followers","following_url":"https://api.github.com/users/matlabbe/following{/other_user}","gists_url":"https://api.github.com/users/matlabbe/gists{/gist_id}","starred_url":"https://api.github.com/users/matlabbe/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/matlabbe/subscriptions","organizations_url":"https://api.github.com/users/matlabbe/orgs","repos_url":"https://api.github.com/users/matlabbe/repos","events_url":"https://api.github.com/users/matlabbe/events{/privacy}","received_events_url":"https://api.github.com/users/matlabbe/received_events","type":"User","site_admin":false},"created_at":"2019-01-04T17:57:24Z","updated_at":"2019-01-04T17:57:24Z","author_association":"MEMBER","body":"A rosbag is fine too"}}
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