Output the image and depth image of keyframe

Posted by chaoqunzhuoyue on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Output-the-image-and-depth-image-of-keyframe-tp2822.html

Hi,

    I can get the pose with standalone version RTABMAP with FIle-> Extract pose in the GUI. Now I would like to output the corresponding RGB image and depth image with these key pose. We have modified the RTABMAP.cpp in the standalone version and output these image successfully.

    Now we have record a rosbag and we want to output the RGB and depth image  with RTABmap-ros, now we have no idea where we can modified so as to achieve it. There is no such file as Rtabmap.cpp in ROS version. Any suggestions ? Or is there any other way that we can do that?

Best
Charle