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find transformation rgbdslam

asked 2012-09-20 07:30:03 -0600

Moataz Elmasry gravatar image

updated 2014-01-28 17:13:42 -0600

ngrennan gravatar image


I managed to get rgbdslam up and running under ros electric and ubuntu 10.04

I'd like to know the transformation between two frames using rgbdslam. the topics being published are of type PointCloud2 and markers. Is this possible?

Many thanks

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answered 2012-09-20 12:26:24 -0600

RossK gravatar image

After having finished processing some kinect data, you can select "Save node wide" under the Graph menu to save all the point clouds making up the model as separate pcd files. You can then obtain the transformations between the pointclouds by selecting "Save Trajectory Estimate" under Processing. This will save a text file containing the transformations between camera poses.

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answered 2012-09-24 10:55:45 -0600

What Rossk says is correct. The transformation information for every processed frame is also published on the topic /tf, usually as the transformation from /map to /base_link. The first frame processed defines the origin of /map and everything else is given relative to it.

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Asked: 2012-09-20 07:30:03 -0600

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Last updated: Sep 24 '12