Able to log the position of the camera sensor during mapping mode using a button trigger

Posted by dinossht on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Able-to-log-the-position-of-the-camera-sensor-during-mapping-mode-using-a-button-trigger-tp10131.html

Goal: Able to log the pose of the camera sensor during mapping mode using a button trigger (in a ROS framework).
Why: This is so that I can optimize the map (from the .db file) and also optimize the camera pose at the given timestamps during the mapping session.

Is this possible with RTAB-Map out of the box, or any suggestions on how I can achieve this?