Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
I would like to recover the GPS position associated to each node in the graph, so I could have a correspondence between map coordinates and GPS coordinates.
Is this information stored in the resulting pbstream and how could I recover this data?
If not, could someone point me how could I do this? Maybe checking the timestamps from nodes and processing the bag separately.. but I don't know if timestamps are stored either.
Hi,
I would like to recover the GPS position associated to each node in the graph, so I could have a correspondence between map coordinates and GPS coordinates.
Is this information stored in the resulting pbstream and how could I recover this data? If not, could someone point me how could I do this? Maybe checking the timestamps from nodes and processing the bag separately.. but I don't know if timestamps are stored either.