Extract camera poses

[fyphil]

Hello,

is it possible to extract the camera poses in the SLAM format without the usage of the RTABMAP-DatabaseViewer (I would need the poses without using the GUI)? Is there a Python or a C++ API?

Thanks in advance,
Phil

[matlabbe]

Hi,

you can try

rtabmap-report --poses rtabmap.db

Other option would be to create a python script using sqlite3 to get the optimized poses from table Admin, fields opt_ids and opt_poses . To uncompress the opt_poses data, this can be used.
 
cheers,
Mathieu