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rtabmap+camera pose

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: https://github.com/introlab/rtabmap/wiki/Stereo-mapping#process-a-directory-of-stereo-images-in-ros) 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?

thanks