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How can I get the kinect pose with rgbdslam v2.

asked 2014-11-17 01:00:53 -0500

NKUBRUCE gravatar image

I am working with rgbdslam v2 to make the turtlebot navigate in door, so I want to get the pose of kinect. I have get the trajectory of camera, but I didn't find out how to get the rotation of the kinect.

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answered 2015-01-14 04:27:58 -0500

If you want it online, you can subscribe to /tf and use the transformation between /map (or whatever you use for the parameter "fixed_frame_name") to the frame of the kinect (/openni_camera or /camera_link). The trajectory file has the following format:

timestamp x-position y-position z-position quaternion-x quaternion-y quaternion-z quaternion-w

The timestamp is the typical unix stamp in seconds, positions are in meter, rotation is a normalized quaternion.

For example:

1305033527.670034 0.002149 -0.002778 0.000684 -0.001445 -0.000679 -0.000384 0.999999
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Thank you very much!

NKUBRUCE gravatar image NKUBRUCE  ( 2015-01-18 00:34:31 -0500 )edit

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Asked: 2014-11-17 01:00:53 -0500

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Last updated: Jan 14 '15