Re: About pose of the rtabmap estimation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-pose-of-the-rtabmap-estimation-tp8918p8951.html

There is a mechanism to feed a ground truth TF to rtabmap (with ground_truth_frame_id and ground_truth_base_frame_id parameters), it will compute RMSE live in Statistics->GT panel and show both trajectories in rtabmapviz.

You may also export the graph in TUM format after the mapping:
rtabmap-export --poses rtabmap.db

cheers,
Mathieu