Re: .db file format and trajectory (odometry) data from .db file

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/db-file-format-and-trajectory-odometry-data-from-db-file-tp2585p2608.html

Hi,

The poses are recorded as fast as the map update rate, which is 1 Hz by default. There is the Map Update parameter in Mapping options that can be set to update the map faster (up to ~5 Hz on Google Tango Development Kit), but a lot more memory will be used (EDIT: if you only need poses without saving clouds, you can use Trajectory Mode to save memory). If you want to record Tango poses at higher frame rate > 10/50 Hz, you may have to create your own app.

Indeed, there are no command line tools for information extraction. The database format is here, and information can be fetched using sqlite3 directly. Note that saved poses are raw odometry poses, we need to optimize the graph to get the actual optimized poses. For command line tools, you may add an issue on github for future developments.

cheers