Re: Print Position and orientation data (on rtabmap- without ROS)

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Print-Position-and-orientation-data-on-rtabmap-without-ROS-tp10952p10973.html


From the MainWindow, the pose refreshed in 3D View is received under processOdometry callback here. To get that pose in map frame, we need to apply the odometry correction to it, like here. "_odometryCorrection" is updated on loop closure detection.

Other option is to use rtabmap_ros, and you could get the latest pose using TF.