Is it possible to set_label in map and retrieve it from the database in post?

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Is it possible to set_label in map and retrieve it from the database in post?

dinossht
Is it possible to set_label in map and retrieve it from the database in post? I want to mark landmarks in map and retrieve these location afterwards.
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Re: Is it possible to set_label in map and retrieve it from the database in post?

matlabbe
Administrator
You can list all labels with corresponding ids like this (map0 is always added by default to first node, I added "kitchen" manually with set_label service):
$ sqlite3  rtabmap.db "select label, id from Node where label is not null order by label"  
kitchen|7
map0|1

Based on the id, you can get the pose with:
$ rtabmap-report --poses rtabmap.db
$ cat rtabmap_slam.txt
#timestamp x y z qx qy qz qw id
0.042000 0.000004 0.000005 0.000000 0.000000 0.000000 -0.000000 1.000000 1
3.162000 0.458245 -0.001795 0.000000 0.000000 0.000000 -0.007404 0.999973 4
4.221000 1.496625 -0.031159 0.000000 0.000000 0.000000 -0.018981 0.999820 5
5.241000 2.435575 -0.066169 0.000000 0.000000 0.000000 -0.015919 0.999873 6
6.261000 2.585459 -0.070988 0.000000 0.000000 0.000000 -0.014342 0.999897 7
95.361000 2.811392 -0.078766 0.000000 0.000000 0.000000 -0.020893 0.999782 91
96.402000 3.734360 -0.147757 0.000000 0.000000 0.000000 -0.047059 0.998892 92
97.440000 4.168826 -0.180322 0.000000 0.000000 0.000000 -0.021443 0.999770 93