Possible for initial pose input for the multi-session mode?

[WilliamWoo45]

Hi @zuhaozou2017,

Thanks for the great work and detailed user guidance!
The multi-session mode indeed has great practical values and solves the long term mapping issues.

However, I'm wondering does LTAOM supports the manual input of initial pose (i.e., transformations) when running the multi-session mode? I found the function addInitialPoseValues and the variable pose_prior, and guess they maybe related to the initial pose.

In some challenging degenerated scenarios, LTAOM may fail to merge the results from two mapping sessions. So the manual input of initial pose maybe of help in such scenarios.

[zuhaozou2017]

Sorry, this is not supported yet. Generally speaking, pose_prior is related to the first pose in your saved prior pose file during first session (try modify it? not sure). "void addPriorPoses(int pose_index, gtsam::Pose3 pose_prior)" is the key. Please use this function to set your pose prior mannully some where.