How to export marker pose

Posted by greesil on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-export-marker-pose-tp10334.html

My workflow with rtabmap is possibly a bit weird, but I'm processing a point cloud created in rtabmap in Python. FWIW  I'm using open3d to find some contours from a segmented ground plane. This is being done after any postprocessing in rtabmap. As part of this I've found that markers help a lot with loop closure. But I would now like to have one of the markers be the origin of a coordinate system.

To do this, I would like to export the pose of the markers and then use them to transform the point cloud in Python. Is there a way to export marker poses to a file?

Conversely, it looks like maybe setting the marker prior could also work but I have been unable to find any documentation on how to do that.

I'm not adverse to modifying the source code but I've been using the standalone app in Windows so far.

Thanks for you help!
G