overlay the path on floor plan

[matroskin-the-cat]

I want to overlay the path from the map file on a floor plan and I noticed that no matter how I scale the path it doesn't match the floor plan in some places. Some parts have drifted or the scaling has changed. Can the graph be corrected If I know that for example frame 1 is at floor plan pixel coordinates 202, 403 and frame 513 should be at 937,101 and frame 819 at 417, 978?

[ymd-stella]

See https://github.com/stella-cv/stella_vslam/blob/139ff815c2c8a1af084417e1d4f48ae2eca14780/src/stella_vslam/optimize/graph_optimizer.cc.

[matroskin-the-cat]

I am not familiar with g2o or graph optimization in general but I assume I need a constrain edge with my data, correct??

[ymd-stella]

Yes.