Extracting Poses From RTABMAP

introlab / rtabmap_ros

RTAB-Map's ROS package.

http://wiki.ros.org/rtabmap_ros

BSD 3-Clause "New" or "Revised" License

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Extracting Poses From RTABMAP #1169

Open lakshmikanth-nageswar opened 3 weeks ago

lakshmikanth-nageswar commented 3 weeks ago

Is it possible to extract all the poses against every input RGBD frame to RTABMAP? I've tried all the options in File->Export Poses but none of them match the input frames of RGBD.

Your help would be greatly appreciated !

matlabbe commented 2 weeks ago

It is because rtabmap would run at a slower rate than camera frame rate/ odometry rate. To record poses at least at odometry rate without causing significant more computation burden for rtabmap is to enable Rtabmap/CreateIntermediateNodes. With rtabmap-databaseViewer, you should be then able to export all poses.