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-tp750p753.html

Hi,

RTAB-Map is an online mapping tool. With default parameters, it will keep only 1 frame/second. If you export the poses in RGBD-SLAM format (from the Edit->"Export poses..." menu), you will have the timestamps to match with your frames in the oni file.

There is an option to add intermediate frames computed by odometry (at higher frequency) in Preferences->"RTAB-Map Settings" (Advanced), check "Create intermediate nodes if odometry is faster than the detection rate.". You will then get the poses of every frames processed by odometry. Note that odometry tries to process the frames received by the camera as fast as it can, so if the frame rate of the camera is higher as the odometry can process in real-time, some frames will be skipped.

You could also extract RGB+Depth images from the database (as well as the poses like the way above) using the Database Viewer to have synchronized frames directly. See Tools -> "Edit database...", open your saved database then click File->"Extract images...". You will then have all RGB (.jpg) and depth (.png) images with their corresponding poses (RTAB-Map doesn't keep RGB and depth images for intermediate nodes in database though).

cheers