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rtabmap+camera pose

asked 2017-10-29 02:50:44 -0600 gravatar image

hi all, i am using rtabmap for mapping and stereo camera pose estimate. i am following tutorials of rtabmap and created map from stereo images that these images save at file (link tutorials: ) but when roslaunch the launch file, from 1035 stereo images, rtabmap give me 44 pose camera. how can set rtabmap that this give me camera pose for per stereo image?


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answered 2017-10-29 05:24:02 -0600

matlabbe gravatar image

Add "--Rtabmap/CreateIntermediateNodes true" to rtabmap_args. This will add empty nodes in the graph with their pose between nodes used for mapping. You may not have one pose per image if the odometry cannot process as fast as the images are published.

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thanks matlabbe gravatar image  ( 2017-10-29 06:29:16 -0600 )edit

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Asked: 2017-10-29 02:50:44 -0600

Seen: 315 times

Last updated: Oct 29 '17