rtabmap pose format

[prashanth]

Hello together

I just saw the option of exporting pose as .txt.i could see 12 values in my first line. in what format it is.
is it x,y,z,roll,pitch,yaw repeated two times.if it is xyzroll pitch yaw what is the unit  of each value

[matlabbe]

Hi,

The format is a 3x4 transformation matrix [R_3x3 T_3x1]. The linear part T is in meters.

cheers,
Mathieu

Duplicate of https://github.com/introlab/rtabmap/issues/288