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I want to create a dense 3d model of an indoor, gps-denied, scene traversed by a MAV. The map produces its own odometry, which is good enough for navigation but not precise enough for 3d reconstruction. I can extract, out of the images taken by the MAV, precise poses with openmvg, but I'd like to make use of the odometry poses estimated by the MAV. OpenMVG allows the introduction of prior poses to its methods (see here), but they need to be included in the EXIF data of the images in form of GPS coordinates.

So I need to convert coordinates in the odom_frame to coordinates in the world_frame. I could also provide the actual GPS coordinates of the first pose, so that I could place the scene in the world, but that's not important.

I've been searching in ROS documentation and all the transformations I've found seem to be from world_frame to odom_frame, but this task looks like quite simple, so I guess there must be some ROS module which does the job.

What should I do in order to express odom_frame coordinates in world_frame coordinates?

Transform from odom_frame to world_frame I want to create a dense 3d model of an indoor, gps-denied, scene traversed by

Oh, none, other than that was the instruction given in the ROSNodeTutorialC++. Just created a catking workspace and used catkin_make, and worked like a charm, thanks. So perhaps the tutorial I was following should be updated...

I'm following the ROSNodeTutorialC++ (here). I've previously installed ROS indigo on ubuntu 14.04 and done some others tutorials.

When I run cmake . in the folder node_example some suspicious warnings appear (see this ROS question, unanswered), and then when I run rosmake, following the tutorial's instructions, lots of messages about "No Makefile in package ..." are printed off (which apparently is fine, according to this answer) but the usual messages expected from a make call don't appear at all. This is the extract that deals with node_example:

[rosmake-7] Starting >>> node_example [ make ]                                  
[rosmake-7] Finished <<< node_example ROS_NOBUILD in package node_example

Consequently, no binaries are generated.

If I run though make , the compilation proceeds normally and the binaries are generated just fine.

Am I doing something wrong with rosmake? Why is it not working as expected?

P.S. By the way, the environmental path ROS_PACKAGE_PATH contains conveniently the path to the folder node _example

@Aylin COSKUN, did you fix this? Could you share with us how you fixed it?