Re: KITTI 00 sequence & rtabmap.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/KITTI-00-sequence-rtabmap-tp7625p7692.html

Hi Anthony,

The detection rate is 2 Hz, and data is 10 Hz, so there is one pose added to map each 5 scans. To have all poses, you can add "--Rtabmap/CreateIntermediateNodes true".

For the kitti 12 values format, it is the 3x4 transformation matrix if I remember correctly:
r00,r01,r02,t0,r10,r10,r11,r12,t1,r20,r21,r22,t2

cheers,
Mathieu