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

Posted by You Li on
URL: http://official-rtab-map-forum.206.s1.nabble.com/db-file-format-and-trajectory-odometry-data-from-db-file-tp2585p2624.html

Hi Mathieu,

Thank you for the information. Now I am trying to extract the real-time pose information directly from the source code. It is straightforward to find the position and Euler angle information by using the latest pose in Rtabmap.cpp. However, when I was trying to extract the timestamp information as well, it seems that all the timestamps in Rtabmap.cpp are relative time periods, instead of the absolute timestamps for the whole data processing process. Do you have any suggestion on where could I get the absolute timestamps? It would be great if the timestamps are the same ones to the timestamps in the recorded database.

Thanks,
You Li