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-tp750p4479.html

Hi,

On ros, subscribe to /rtabmap/mapGraph topic. Those are poses of all nodes in /map frame.

"for each frame", do you mean each camera frame? each frame processed by visual odometry or each frame processed by rtabmap? By default it is the later ("each frame processed by rtabmap"). When setting "Rtabmap/CreateIntermediateNodes= true" like above, poses from odometry will be also saved in the graph, so exporting the graph you will have "for each frame processed by odometry".

cheers,
Mathieu