Extract Odometry Pose from Rtabmap database viewer

[Genozen]

Hello, I'm slightly confused with the "odometry pose"

I'd like to extract the position of the camera from my .db files.


(I think the blue "graph" path looks like what I had...)

I tried file->export poses-> different formats

But when I compared my exported data with the timestamp to the Odometry pose, they don't seem to match?



Also at start, my exported data says I'm at (4,-4,0) but in databaseViewer it sayd I'm near (0,0,0).

Could you help clarify the differences?


references (?) :
https://answers.ros.org/question/238705/extract-odometry-and-map-from-db-file-on-tango/
https://github.com/introlab/rtabmap_ros/issues/389

[matlabbe]

The poses in exported are those matching the optimized graph in Graph View. Slide left the iteration slider to show graph without any optimization, then try exporting the poses (they should be the odometry poses).