Re: Export pose for every frame?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Export-pose-for-every-frame-tp750p4333.html

Hi,

The Export Poses action is now under File menu. You will have also the choice to export poses directly in camera frame (instead of robot frame) so that optical rotation of the camera is included in the pose. Otherwise, you would have to do an optical rotation to correctly rotate the point clouds from image coordinates (x-right, y-down, z-forward) to ROS/RTAB-Map coordinates (x-forward, y-left and z-up). Poses are in ROS/RTAB-Map coordinates.

Note that poses in database are odometry poses, they are not the optimized ones after loop closures.

cheers,
Mathieu