EdgeSE2PointXYOffset error function wrong?

[redheli]

void EdgeSE2PointXYOffset::computeError() {
    // from cam to point (track)
    // VertexSE2 *rob = static_cast<VertexSE2*>(_vertices[0]);
    VertexPointXY *point = static_cast<VertexPointXY*>(_vertices[1]);

    Vector2D perr = cache->w2lMatrix() * point->estimate();

    // error, which is backwards from the normal observed - calculated
    // _measurement is the measured projection
    _error = perr - _measurement;
    //    std::cout << _error << std::endl << std::endl;
  }

@RainerKuemmerle
I notice it use world to local matrix, shall use world to sensor matrix instead?
also I tested g2o_viewer with output file "tutorial_before.g2o" from tutorial_slam2d (I updated register vertex,edge name) tutorial_before.g2o.txt

attached screen shot with two results.

use world to sensor matrix:

use world to local matrix:

[github-actions]

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