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-tp750p775.html

Hi,

With OpenNI2, we could use the timestamp and frame index of each frame. Add them here in CameraRGBD.cpp. Then use "Mem/GenerateIds=false" to have directly the node ID = oni frame ID. I added an issue to add this feature.

The timestamps used by RTAB-Map are in seconds (epoch time). Those used by OpenNI2 seems to be in microseconds. They could be synchronized using the first frame.

As mentionned previously, you can also use the DatabaseViewer to extract the RGB and depth images corresponding to all nodes (this way, you can be sure that images and poses are synchronized).

Note that if you want to build RTAB-Map, it may be easier to do it under Ubuntu.

cheers