odometry data fusion

Posted by Jimmy Notron on
URL: http://official-rtab-map-forum.206.s1.nabble.com/odometry-data-fusion-tp1695.html

hi guys
im working on fusing data with rtab and IMU
and i have some question

1- whats the rtabmap odometry data Standard ? i mean its in odom_base coordinate ?

im reading this tutorial in section of Axis orientation they wrote that the camera data standard is "Z forward && ...) i think its not standard of rtabmap is it true?

2- whats type of orientation standard of rtabmap odometry ?
i mean its compact representation and without any singularity ?

3-i wanna calculate robot heading with orientation
is the orientation of rtabmap  is rate of angle or angle ? whats the unit of orientation (rad or deg ) ?