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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

Closed lakshmikanth-nageswar closed 4 months ago

lakshmikanth-nageswar commented 5 months 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 5 months 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.