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

Posted by matlabbe 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-tp10131p10138.html

Under ros, you could subscribe to odometry topic, then get from TF the map->base_link frame to get pose in map frame at the timestamp of the topic. Or you can save directly odometry topic for odometry pose.

I prefer to just open the database afterwards in rtabmap-databaseViewer and do File->Export poses... in format I want. Graph View panel should be opened to export poses (you can move the iteration slider to 0 to export odometry poses).

On command line, you can also use "rtabmap-report --poses rtabmap.db" to get slam (optimized) and odom poses.

cheers,
Mathieu