RTAB-Map and COLMAP

[huan_c]

Hi everyone,

I,m using RTAB-Map and I'm trying to export the poses and use them in COLMAP, but the origin is different, in adittion, the poses from COLMAP are 1-N image referenced. Is there any way to play with this poses exportation?

Thanks in advance.

[matlabbe]

Hi,

In rtabmap-databaseViewer, to extract images with ID:

File-> Extract Images... , select Id

to extract poses in camera frame (which is often used in SFM frameworks), x->right, y->down, z->forward:

File -> Export Poses, select RGBD SLAM with ID to know the correspondences with the images extracted, select current Map Graph view, select Camera frame.

cheers,
Mathieu

[FooTheBar]

Is there also a way to pass the optimized poses from COLMAP into RTAB-Map and then generate a map/Database with RTAB? (like using an odometry with infine weight or nor running the pose-graph optimization at all?)

[matlabbe]

If IDs are matching between the new optimized poses and nodes in the database, the "simpliest" way would be to update opt_ids and opt_poses fields in the database directly. A python script with sqlite3 could be a way to implement this (this script can be used to compress and uncompress the opt_poses blob).

If the modified database is used in localization mode, it should keep the modified poses.

cheers,
Mathieu