Re: Occupancy Grid with RTAB-Map as a library

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Occupancy-Grid-with-RTAB-Map-as-a-library-tp4131p4150.html

They are in /map frame. Note that in your example the argument "optimized" of get3DMap() is false, which would give odometry poses without loop closure corrections.

The mapCorrection() transform is the transform /map -> /odom, which only makes sense to use to correct the latest odometry pose.

Cheers,
Mathieu