Re: About pose of the rtabmap estimation

Posted by matlabbe on Feb 25, 2022; 1:29am
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-pose-of-the-rtabmap-estimation-tp8918p8982.html


Well, you can see TF world->map->base_link (slam) compared to a world->tracker (ground truth) in real-time if you want. If you want a topic, just subscribe to TF topic and record those transforms.

However, it is more convenient to just export the graph after mapping in TUM RGB-D daset format and use TUM's python evaluation script to compare with a ground truth that you can record in same format.

plaid wrote

I would like to do a plot like the one in the paper you described in the gazebo simulation

Which simulation, and which paper?