Hi, how to access the pose of the camera?

[liqile]

Hello, @raulmur
I am sorry to trouble you but I am facing some problems while porting your code to an arm board.

The 1st problem is that I have no idea how to get the camera pose.
I have seen into your code, and found following lines
cv::Mat Rwc = mCurrentFrame.mTcw.rowRange(0,3).colRange(0,3).t();
cv::Mat twc = -Rwc*mCurrentFrame.mTcw.rowRange(0,3).col(3);
is Rwcthe rotation matrix of the camera in world coordinate system?
and
I am also wondering how to access the (x,y,z) coordinate of camera in world coordinate system?
is it twc or mCurrentFrame.mTcw.rowRange(0,3).col(3)?

The second problem is that how to remove the viewer and rviz of the program. Because I only need the pose of the camera. or how do I get to know all the topics with orbslam?

I am looking forward to hearing from you
best wishes to you

                                                                                                             yours, sincerely
                                                                                                             Li Qile

[raulmur]

subindex cw means that points in world coordinates are transformed into camera coordinates.
twc is the camera position (optical center) in world coordinates.