Save poses in localization

[tea]

Hi Matlabbe,
I'm trying to perform localization in RTAB-Map, but I'm having issues in retrieving poses.
Let me first describe a little bit my situation.
In two steps: first of all, I create a map database, using recorded images and a source of odometry. Once the map creation is finished, I start a new instance of RTAB-Map, loading in the GUI the database containing the map and a new database without odometry (this second as source). I use data of a similar trip to perform localization. Up to here is fine: the matches between the map and the new database can be seen from the GUI, but I didn't find any way to download the poses (of the localization, not of the whole map).
I need them to check the goodness and correctness of localization against ground truth (given by GPS). How should I do to find/record this information?
Thank you for your help.

[matlabbe]

There is a statistic in Statistics panel that give the the current pose of the robot:
 

You can plot them (x,y,z,roll,pitch,yaw) in a figure, then in the figure  you can copy/paste the resulting data to clipboard so you can have all the poses.

x	Loop/MapToBase pitch/deg	Loop/MapToBase roll/deg	Loop/MapToBase x/m	Loop/MapToBase y/m	Loop/MapToBase yaw/deg	Loop/MapToBase z/m	
0.061283	0.000000	0.000000	0.824576	-0.347399	2.956175	0.000000
1.061828	0.000000	0.000000	0.824672	-0.347239	2.958014	0.000000
2.062373	0.000000	0.000000	0.824830	-0.347251	2.952559	0.000000
3.062918	0.000000	0.000000	0.824864	-0.347533	2.957227	0.000000
4.063463	0.000000	0.000000	0.824732	-0.347619	2.951538	0.000000
5.064008	0.000000	0.000000	0.824636	-0.347237	2.956615	0.000000
6.098099	0.000000	0.000000	0.824964	-0.347225	2.958956	0.000000
7.098644	0.000000	0.000000	0.824623	-0.347235	2.962220	0.000000
8.099189	0.000000	0.000000	0.824656	-0.347352	2.951769	0.000000
9.099734	0.000000	0.000000	0.824676	-0.347416	2.952874	0.000000
10.133630	0.000000	0.000000	0.824952	-0.347423	2.958404	0.000000
11.200878	0.000000	0.000000	0.825046	-0.347313	2.958549	0.000000
12.201423	0.000000	0.000000	0.824939	-0.347035	2.959143	0.000000
13.201968	0.000000	0.000000	0.825034	-0.347282	2.959235	0.000000
14.202513	0.000000	0.000000	0.824763	-0.347403	2.954526	0.000000
15.203057	0.000000	0.000000	0.824814	-0.347314	2.958415	0.000000
16.203602	0.000000	0.000000	0.824876	-0.347456	2.958884	0.000000
17.237499	0.000000	0.000000	0.824738	-0.347742	2.955909	0.000000
18.304747	0.000000	0.000000	0.824555	-0.347285	2.947679	0.000000
19.338643	0.000000	0.000000	0.824632	-0.347604	2.957663	0.000000
20.339188	0.000000	0.000000	0.824688	-0.347145	2.957339	0.000000
21.373085	0.000000	0.000000	0.824486	-0.347450	2.956482	0.000000
22.373375	0.000000	0.000000	0.824886	-0.347248	2.957995	0.000000

Other way is to do localization under ROS, so that you could get TF map->base_link each time it re-localizes.