I have managed to receive camera_pose for ORB-SLAM by following their code.
If I run
$ echo /world /camera_pose
I receive something like this:
Translation [-0.8, 0.66, -0.04] Rotation in Quaternion [ 0.2, -0.3, -0.2, 0.2] in RPY radian: [0.071, -0.032, -0.34] in RPY degree [0.4, -25.09, -3.2]
Does this mean these are the translations and rotations of the camera_pose compared to the world coordinates?
How do I retrieve the estimate of the camera_pose in global coordinates (I want x,y,z,yaw,pitch, roll)?