[Cartographer_ROS] Can we know at which frame each trajectory node was generated?

asked 2019-05-23 05:46:36 -0500

nobinov gravatar image

Hi all! I am using cartographer_ros for SLAM.

Currently i am trying to extract the final trajectory of a robot after doing offline mapping in cartographer. By following issue #332 in cartographer's github , and using this code, now I am able to access the pose of robot for each trajectory node.

I ran my cartographer_ros in my bagfile that generated from KITTI raw dataset using kitti2bag and have 1101 frames on it. From the .pbstream file that generated, I got 526 trajectory nodes. From the number itself, it seems there's no correlation between amount of generated trajectory nodes and amount of scanning frames.

Is there any way to know at which frame each trajectory node was generated? Or what parameter(s) that can affect the amount of generated nodes?

Thank you!

edit retag flag offensive close merge delete