Export refined poses and their corresponding images.

[Mikor]

Hey Mathieu,

For starters I want to say that your help on previous posts is greatly appreciated and I hope I can be at your level one day and contribute back to the community.

Here is what I am trying to achieve. I have a database and I made some changes to the created map, added some loop closures etc. and now I want to export the new trajectory and the corresponding images of each pose. Although when I extract the graph poses and the images the number does not agree. The images are more than the poses but when I extract the odometry the number of the poses agree with the number of the images but when I plot the trajectory I can see that the changes I have made are not there. How can I extract the refined poses and their corresponding images ?

[Mikor]

Could those be some intermediate nodes that are automatically ignored after the refinement ?

[matlabbe]

Hi,

Are you extracting images from DatabaseViewer? You can select if you want the timestamp or id as filename. If you choose the id, you can export poses in RGB-D SLAM format + ID so that you can know which pose corresponds to which image.

In database viewer, can you see the loop closures you added? In Graph View, can you see all poses? If you don't see all poses, maybe some have been ignored (even if images are saved) if RGBD/LinearUpdate is > 0 (default is 10 cm).

You can reprocess your database like this:

rtabmap-reprocess --RGBD/LinearUpdate 0 input.db output.db

and see if the number of poses and number of images now match.

PS: I am glad that my previous answers are helping the community, this is why I continue supporting this project (even if I am late sometimes because of some deadlines or consulting).

cheers,
Mathieu