Re: LabelPose

Posted by matlabbe on Oct 13, 2024; 5:47pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/LabelPose-tp10528p10537.html


From Rtabmap object, you may call rtabmap::getAllLabels() with rtabmap::getGraph() (with optimized and global set to true) to know their pose.

From ros services, you can call "list_labels" with "get_map_data" (with optimized, global and graphOnly set to true).

With rtabmap::optimizeCurrentMap() you would need to set lookInDatabase=true to get all poses (though not necessary if WM is not limited).

cheers,
Mathieu