Re: rosbag rtabmap_ros

Posted by Micke on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rosbag-rtabmap-ros-tp248p255.html

Hello Mathieu,

I noticed openni_launch didn't get any depth images, so I tried with freenect and an old Kinect 1414, I modified the ros bag as you told me and it finally worked.

Recording the bag:

$ roslaunch freenect_launch freenect.launch depth_registration:=true
$ rosbag record -O mytest /tf /camera/rgb/image_color /camera/rgb/camera_info /camera/depth_registered/image_raw

Now, I wonder if it's possible to get the estimated trayectory from visual odometry, as I want to compare it with ground truth trayectory, How can I get it ?

Thanks in advance,
Micke.