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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Getting the current camera pose #1321

Closed bingogome closed 3 months ago

bingogome commented 3 months ago

I apologize if this is a dumb question :)

I use rtabmap->getLastLocalizationPose() to get a pose but the update rate seems pretty low and sometimes it does not get updated. I am not using ROS so tf is out of question. I am following the tutorial here so I suppose it is in the mapping mode. What should be the proper way?

matlabbe commented 3 months ago

Here: https://github.com/introlab/rtabmap/blob/4911dbe9bbfcdaebc1a60bc2a72c5cdc5f614bd6/examples/RGBDMapping/MapBuilder.h#L158

We transform odometry pose in map frame (using last map->odom correction received) at odometry frame rate. getLastLocalizationPose() is updated only when there is a loop closure in mapping mode, so probably not what you want.

bingogome commented 3 months ago

@matlabbe Thank you so much for your reply! It now works great. Closing the issue