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Getting position and orientation from RGBDSLAM?

asked 2011-09-12 03:50:59 -0600

pdowling gravatar image

updated 2016-10-24 09:02:55 -0600

ngrennan gravatar image

I'm buiding a robot equipped with a kinect sensor that will navigate a room autonomously or based on manually entered waypoints. I'd like to use rgbdslam to map out the environment the robot is in, and since it of course also does localization, I was wondering how to extract the kinects coordinates and orientation from rgbdslam. Any help?

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answered 2011-09-14 08:53:00 -0600

redbaron148 gravatar image

Have you explored the tf tree rgbdslam generates for you? It seems slam_transform is the localized position of the kinect.

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answered 2011-10-17 03:45:17 -0600

The answer of redbaron is correct. In the new snapshot (see installation instructions here) there is a fixed frame (by default called "map" and positioned where the first frame is taken) and a transformation to the "openni_camera" frame is given from there.

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Asked: 2011-09-12 03:50:59 -0600

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Last updated: Oct 17 '11