Re: Export pose for every frame?

Posted by Timofejev on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Export-pose-for-every-frame-tp750p4335.html

UPDATE: Ok, I have found the obvious solution. By default no new nodes are created for poses that are close to each other. By setting the threshold distance and angle to 0 I am able to write all input frames into nodes and export their poses afterwards.
I leave my original posting in place in case somebody else will have the same problem:

so now I have the same problem as thread starter I guess. I have set the settings as you have recommended:

Rtabmap/ComputeRMSE= true
Rtabmap/CreateIntermediateNodes= true
Rtabmap/DetectionRate= 0
Rtabmap/ImageBufferSize= 0

and from 1000 input image pair I only get 74 poses:

WM: 74 nodes and 37411 words
Global graph: 74 poses and 99 links

As I am processing the images offline, I am able set the input source rate to 1 Hz so my CPU is quite relaxed (I am monitoring the usage). It should be able to process every frame. "Synchronize capture rate with timestamps" is also set to false. I am probably missing something very obvious?