RTAB rpy to dcm

[LickmyBun]

Hi, I want to retrieve pose of camera from RTAB in affine transformation matrix (4X4).
I got this data:
VERTEX3 113 2.749511 1.556723 1.187114 -2.259626 0.300270 2.254446
VERTEX3 117 2.817123 1.453476 1.223466 -2.313895 0.237807 2.065732
VERTEX3 120 2.898643 1.326740 1.266811 -2.339852 0.187059 1.927904
VERTEX3 122 2.964126 1.239821 1.289991 -2.345426 0.166385 1.872102
VERTEX3 124 3.039816 1.152864 1.322657 -2.352621 0.153975 1.840749
VERTEX3 127 3.148681 1.011002 1.368698 -2.363636 0.127492 1.777336
VERTEX3 129 3.217162 0.847404 1.404372 -2.373075 0.085438 1.675832
VERTEX3 131 3.279071 0.665659 1.434914 -2.378787 0.019174 1.518481
VERTEX3 133 3.300740 0.457817 1.439582 -2.373951 -0.008866 1.455073
VERTEX3 134 3.293340 0.279964 1.438884 -2.373211 -0.003840 1.461555
My question is: what type of format does RTAB process rpy? Because I'd tried lots of convertion and didn't work.

[matlabbe]

Hi,

This format is TORO format. How did you export these values? With the File->Export poses menu action, you can choose to export in "raw" format, which gives 3x4 transformation matrices (assuming last row of 4x4 to be 0 0 0 1).

RTAB-Map converts RPY to rotation matrix with pcl::getTransformation().

cheers,
Mathieu

[LickmyBun]

Thanks, already solve this problem.