odom_local_map coordinate system

Posted by brigit on
URL: http://official-rtab-map-forum.206.s1.nabble.com/odom-local-map-coordinate-system-tp1851.html


Is the /odom_local_map topic in the camera's local coordinate system? If so, is there a way to project those points in the global map coordinate system, perhaps using the transform used to update the robot's odometry?

I would like to be able to do point association between the global map and the current camera pointcloud, but they both need to be in the same coordinate system in order to do this.