How do I execute “Export poses” from the CLI?

[takanotume24]

Hello.

I am using the pose estimation results (coordinates) from RTAB-MAP.
In the RTAB-MAP GUI, I export them by
Tools -> Edit database -> File -> Export poses -> RGBD-SLAM ID Format.
Is it possible to do this from the command line interface (CLI)?

Thank you.

[matlabbe]

See rtabmap-export options:

    --poses               Export optimized poses of the robot frame (e.g., base_link).
    --poses_camera        Export optimized poses of the camera frame (e.g., optical frame).
    --poses_scan          Export optimized poses of the scan frame.
    --poses_gt            Export ground truth poses of the robot frame (e.g., base_link).
    --poses_gps           Export GPS poses of the GPS frame in local coordinates.
    --poses_format #      Format used for exported poses (default is 11):
                              0=Raw 3x4 transformation matrix (r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz)
                              1=RGBD-SLAM (in motion capture coordinate frame)
                              2=KITTI (same as raw but in optical frame)
                              3=TORO
                              4=g2o
                              10=RGBD-SLAM in ROS coordinate frame (stamp x y z qx qy qz qw)
                              11=RGBD-SLAM in ROS coordinate frame + ID (stamp x y z qx qy qz qw id)

    --opt #               Optimization approach:
                              0=Full Global Optimization (default)
                              1=Iterative Global Optimization
                              2=Use optimized poses already computed in the database instead
                                of re-computing them (fallback to default if optimized poses don't exist).
                              3=No optimization, use odometry poses directly.

In your particular case, you could do:

rtabmap-export --poses --poses_format 11 --opt 0 rtabmap.db